2003 IEEE International Conference On Robotics And ... - IEEE Xplore
2003 IEEE International Conference On Robotics And ... - IEEE Xplore
2003 IEEE International Conference On Robotics And ... - IEEE Xplore
Create successful ePaper yourself
Turn your PDF publications into a flip-book with our unique Google optimized e-Paper software.
<strong>2003</strong> <strong>IEEE</strong> <strong>International</strong> <strong>Conference</strong> on<br />
<strong>Robotics</strong> and Automation<br />
September 14 - 19, <strong>2003</strong><br />
The Grand Hotel, Taipei, Taiwan<br />
Proceedings<br />
Volume 1<br />
Pages 1 - 1550<br />
Sponsored by<br />
The <strong>IEEE</strong> <strong>Robotics</strong> and Automation Society<br />
National Science Council, Taiwan, R.O.C.<br />
Ministry of Education, Taiwan. R.O.C.<br />
Hosted by<br />
National Chung-Cheng University<br />
Automation Research Center<br />
National Taiwan University<br />
Center for Information and Electronics Technology<br />
Center for Nano Science and Technology<br />
In Cooperation with<br />
Chinese Institute of Automation Engineers<br />
Industrial Technology Research Institute<br />
TECO Electric and Machinery Co., Ltd.<br />
Metal Industry Research and Development Center
ICRA <strong>2003</strong> Proceedings (3 Volumes)<br />
Additional copies may be ordered from:<br />
<strong>IEEE</strong> Service Center<br />
7445 Hoes Lane<br />
P.O. Box 1331<br />
Piscataway, NJ 08855-11331, U.S.A.<br />
<strong>IEEE</strong> Catalog Number:<br />
ISBN:<br />
Library of Congress Catalog Number:<br />
ISSN:<br />
<strong>IEEE</strong> Catalog Number (CD-ROM):<br />
ISBN (CD-ROM):<br />
03CH37422<br />
0-7803-7736-2<br />
90-640158<br />
1050-4729<br />
03CH37422C<br />
0-7803-7737-0<br />
Copyright and Reprint Permission:<br />
Abstracting is permitting with credit to the source.<br />
Libraries are permitted to photocopy beyond<br />
the limit of US. copyright law for private use of patrons those articles in this volume that carry a<br />
code at the bottom of the first page, provided the pre-copy fee indicated in the code is paid<br />
through Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 09123, U.S.A. For<br />
other copying, reprint, or republication permission, write to <strong>IEEE</strong> Copyrights Manager, <strong>IEEE</strong><br />
Operations Center, 445 Hoes Lane, P.O. Box 1331, Piscataway, NJ08855-1331, U.S.A. All<br />
rights reserved. Copyright 0<strong>2003</strong> by the Institute of Electrical and Electronics Engineers, Inc.<br />
Printed in Taiwan.<br />
The Institute of Electrical and Electronics Engineers, Inc.
Foreword<br />
The <strong>2003</strong> <strong>IEEE</strong> <strong>International</strong> <strong>Conference</strong> on <strong>Robotics</strong> and Automation (ICRA <strong>2003</strong>) is being held<br />
in Taipei, the capital city of Taiwan, R.O.C. After Japan and Korea, this is the 3rd time in the 20 years<br />
history of <strong>IEEE</strong> <strong>Robotics</strong> and Automation Society (RAS) that this extremely prestigious annual<br />
conference is to be held in Asia again. With the last ICRA being held in Washington D.C., U.S.A., the<br />
conference location in Taiwan at almost opposite side of the globe simply provides the most wonderful<br />
opportunity for the R&A field scholars and practitioners to explore more in depth the academia,<br />
economy, high tech. industry, culture, etc. of a part in Asia -Taiwan, besides enhancement of sociality<br />
and experience sharing<br />
A record number of papers, 1176, have been submitted to this conference Program Committee<br />
(PC) from 48 countries completely through the web on-line system developed locally, which<br />
demonstrates excellent capabilities in handling huge amount of paper submissions from all over the<br />
world and the subsequent review and registration matters. Special thanks should go to the Program<br />
Co-chairs, Shigeo Hirose, C.S.G. Lee, Bruno Siciliano, and B.H. Lee and all PC members for their<br />
extraordinary work in reviewing such incredible amount of submitted papers and in selecting 714<br />
papers for presentations over 14 parallel tracks per day in the three day main program. Topics of the<br />
accepted papers cover quite wide-spectrum and are roughly grouped into 34 categories. To serve the<br />
conference participants with a technical program of greater variety, the sessions of paper presentation<br />
are made of several kinds besides the regular ones, including Organized/lnvited Session, Industry<br />
Session, Video Session, and three plenary speeches as well as thee panel discussions. Such solid<br />
program will not be possible without tremendous help and professional support from members of the<br />
organizing committee and all other conference committees.<br />
We wish you will have a fruitful conference and a very pleasant stay in Taiwan.<br />
Ren C. Luo<br />
General Chair<br />
Li-Chen Fu<br />
frogmm Chair<br />
i
Advisory Committee<br />
<strong>Conference</strong> Organization<br />
T. J. Tarn, Washington Univ., St. Louis, USA.<br />
Toshio Fukuda, Nagoya Univ., Japan<br />
National Advisory Committee<br />
Chintay Shih Ho-Ming Huang Hong Sun<br />
Powen Hsu Stan Shih Yuan T. Lee<br />
Organizing Committee<br />
General Chair<br />
Ren C. Luo<br />
President<br />
National Chung Cheng University<br />
Taiwan<br />
Program Chair<br />
Li-Chen Fu<br />
Professor<br />
National Taiwan University<br />
Taiwan<br />
General Co-chairs<br />
Program Co-chairs<br />
Awards Committee Chair<br />
Awards Committee Co-chair<br />
Publicity Chair<br />
Publications Chair<br />
Video Proceedings Chair<br />
Finance Chair<br />
Finance Co-chair<br />
Workshop/Tutorial Chair<br />
Local Arrangement Chair<br />
Exhibitions Chair<br />
Registration Chair<br />
Jia-Ming Shyu<br />
S. H. Lu, Taiwan<br />
G. Bekey, U.S.A.<br />
F. Harashima, Japan<br />
G. Giralt, France<br />
C.S. George Lee, U.S.A<br />
Bruno Siciliano, Italy<br />
B. H. Lee, Korea<br />
Shigeo Hirose, Japan<br />
Steve Hsia, U.S.A.<br />
Antonio Bicchi, Italy<br />
Y. F. Zheng, U.S.A.<br />
H.-P. Huang, Taiwan<br />
Rajiv V. Dubey, U.S.A.<br />
F.-T. Cheng, Taiwan<br />
Rong-Shine Lin, Taiwan<br />
Ken Goldberg, U.S.A.<br />
Tsai-Yen Li, Taiwan<br />
MuDer Jeng, Taiwan<br />
Yi-Ping Hung, Taiwan<br />
Program Committee<br />
Program Chair<br />
Co-chairs<br />
Vice-Chairs<br />
Li-Chen Fu, Taiwan<br />
C. S. George Lee, U.S.A.<br />
Bruno Siciliano, Italy<br />
B. H. Lee, Korea<br />
Shigeo Sugano, Japan<br />
Kuang-Chao Fan, Taiwan<br />
Chang-Huan Liu, Taiwan<br />
Tsu-Tian Lee, Taiwan<br />
iii
Awards Committee<br />
Awards Committee Chair<br />
Co-chair<br />
Members<br />
Steve Hsia, U.S.A.<br />
Antonio Bicchi, Italy<br />
Raja Chatila, France<br />
Toshio Fukuda, Japan<br />
Ian Walker, U.S.A.<br />
Rajiv V. Dubey, U.S.A.<br />
Publicity Committee<br />
Publicity committee Chair<br />
Members<br />
Publications Committee<br />
Publications Committee Chair<br />
Members<br />
Video Proceedings Committee<br />
Video Proceedings Committee Chair<br />
Members<br />
Workshop/lutorial Committee<br />
Workshop/Tutorial Committee Chair<br />
Members<br />
Local Arrangement Committee<br />
Local Arrangement committee Chair<br />
Members<br />
Exhibitions Committee<br />
Exhibitions Committee Chair<br />
Members<br />
Y. F. Zheng, USA.<br />
Kazuhito Yokoi, Japan<br />
Shigeaki Yanai, Japan<br />
H.-P. Huang, Taiwan<br />
Argon Chen, Taiwan<br />
Chiou-Shann Fuh. Taiwan<br />
Rajiv V. Dubey, U.S.A.<br />
I-Ming Chen, Singapore<br />
T. Kesavadas, U.S.A.<br />
Oussama Khatib, USA.<br />
Peter B. Luh, U.S.A.<br />
Shigeki Sugano, Japan<br />
Ken Goldberg, U.S.A.<br />
Ian Walker, U.S.A.<br />
Michael Wang, HongKong<br />
Simon DiMaio, Canada<br />
Wes Huang, U.S.A.<br />
Wolfram Burgard, U.S.A.<br />
Tsai-Yen Li, Taiwan<br />
Jyi-Shane Liu, Taiwan<br />
Maw-Kae Hor, Taiwan<br />
Tzuu-Hseng S. Li, Taiwan<br />
Jwu-Sheng Hu, Taiwan<br />
MuDer Jeng, Taiwan<br />
I-Ming Chen, Singapore<br />
Pau-Lo Hsu, Taiwan<br />
Da-Yin Liao, Taiwan<br />
Robin Qiu, U.S.A.<br />
iv
Technical Program Committee<br />
AsialOceania<br />
Akihito San0<br />
Boo Hee Nam<br />
Ching-Long Shih<br />
Er Meng Joo<br />
Fumitoshi Matsuno<br />
Hidenori lshihara<br />
In-Joong Ha<br />
Jang-Myung Lee<br />
Jong Hyeon Park<br />
Kai-Tai Song<br />
Kazuihito Yokoi<br />
Kiyoshi Komoriya<br />
Makoto Kaneko<br />
Maw-Kae Hor<br />
Minoru Asada<br />
Sang-Rok Oh<br />
Shinichi Yuta<br />
Takafumi Matsumaru<br />
Tsuneo Yoshikawa<br />
Yangsheng Xu<br />
Yoji Yamada<br />
Yugeng Xi<br />
Argon Chen<br />
Chia-Ju Wu<br />
Chiou-Shann Fuh<br />
Fan-Tien Cheng<br />
Han-Pang Huang<br />
Hugh Durrant-Whyte<br />
James T. Lin<br />
Jen-Hwa Guo<br />
Jongwon Kim<br />
Katsushi lkeuchi<br />
Kazuo Kiguchi<br />
Koji Ito<br />
Marcel0 H. Ang Jr.<br />
Max Q.-H. Meng<br />
MuDer Jeng<br />
Shi-Chung Chang<br />
Suguru Arimoto<br />
Takashi Tsubouchi<br />
Tzuu-Hseng S. Li<br />
Yasuyoshi Yokokohji<br />
Yoshiaki Shirai<br />
Zengqi Sun<br />
Atsuo Takanishi<br />
Ching-Chih Tsai<br />
Der-Baau Perng<br />
Fumihito Arai<br />
Hideki Hashimoto<br />
I-Ming Chen<br />
Jane Hsu<br />
Jin Young Choi<br />
Jun Ota<br />
Kazuhiro Kosuge<br />
Kazuo Tanie<br />
Kuu-Young Young<br />
Masakatsu Fujie<br />
Michael Yu Wang<br />
N. Viswanadham<br />
Shigeki Sugano<br />
Suhkan Lee<br />
Toshio Fukuda<br />
Woonchul Ham<br />
Yi-Ping Hung<br />
Yuechao Wang<br />
Zexiang Li<br />
Americas<br />
Alan A. Desrochers<br />
Anthony A. Maciejewski<br />
Bijoy K. Ghosh<br />
Daniel Koditschek<br />
Feiyue Wang<br />
Hami Kazerooni<br />
Jay Lee<br />
Jing Xiao<br />
<strong>And</strong>rew Goldenberg<br />
Antti J. Koivo<br />
Bradley J. Nelson<br />
David E. Orin<br />
George Bekey<br />
Ian D. Walker<br />
Jeffrey C. Trinkle<br />
John Feddema<br />
<strong>And</strong>rew Kusiak<br />
Arthur C. Sanderson<br />
C. L. Philip Chen<br />
David J. Kriegman<br />
Gregory S. Chirikjian<br />
J. Y. S (John) Luh<br />
Jeremy Cooperstock<br />
John M. Hollerbach<br />
V
Jorge Angeles<br />
Ken Goldberg<br />
Lydia Kavraki<br />
Matt Mason<br />
Nancy Amato<br />
Ning Xi<br />
Peter Will<br />
Ralph Hollis<br />
Russell H. Taylor<br />
Sunil K. Agrawal<br />
Wayne J. Book<br />
William R. Hamel<br />
Yuan F. Zheng<br />
Junku Yuh<br />
Kok-Meng Lee<br />
Lynne E. Parker<br />
MengChu Zhou<br />
Nikos Papanikolopoulos<br />
Paul Oh<br />
Pradeep K. Khosla<br />
Richard M. Voyles<br />
Seth Hutchinson<br />
Vincent Hayward<br />
Wesley E. Snyder<br />
Xiaoping Yun<br />
Kamal Gupta<br />
Louis L. Whitcomb<br />
Marjorie Skubic<br />
Ming C. Lin<br />
Nilanjan Sarkar<br />
Peter B. Luh<br />
Rajiv V. Dubey<br />
Robin Murphy<br />
Sooyong Lee<br />
Vladimir Lumelsky<br />
William A. Gruver<br />
Yilong Chen<br />
EuropelMediterranean<br />
Alessandro De Luca<br />
Angel P. del Pobil<br />
Benedetto Allotta<br />
Christian Laugier<br />
Davide Brugali<br />
Eugenio Guglielmelli<br />
Fabrizio Caccavale<br />
FranGois Pierrot<br />
Gianantonio Magnani<br />
Giuseppe Menga<br />
Herman Bruyninckx<br />
J. Norbert0 Pires<br />
Jorge Dias<br />
Kostas Kyriakopoulos<br />
Manfred Hiller<br />
Massimo Caccia<br />
Radu Horaud<br />
Rolf Johansson<br />
Stefano Stramigioli<br />
Alessandro Giua<br />
Antonio Bicchi<br />
Bernard Espiau<br />
Claudio Melchiorri<br />
Elzbieta Roszkowska<br />
Evangelos Papadopoulos<br />
Federico Thomas<br />
Frans Groen<br />
Giulio Sandini<br />
Giuseppe Oriolo<br />
Hong Qiao<br />
Jadran Lenarcic<br />
Joris De Schutter<br />
Krzysztof Kozlowski<br />
Maria Chiara Carrozza<br />
Paolo Dario<br />
Raja Chatila<br />
Ruediger Dillmann<br />
Vincenzo Parenti Castelli<br />
Alicia Casals<br />
Aydan M. Erkmen<br />
Cecilia Laschi<br />
David Lane<br />
Erwin Prassler<br />
Eve Coste-Maniere<br />
Francesco Basile<br />
Gerd Hirzinger<br />
Giuseppe Casalino<br />
Henrik Christensen<br />
lmre Rudas<br />
Jean-Pierre Merlet<br />
Jose Neira<br />
Luigi Villani<br />
Martin Buss<br />
Paolo Fiorini<br />
Roland Siegwart<br />
Stefano Chiaverini<br />
Wisama Khalil<br />
vi
Table of Contents<br />
Foreword ..................................................................................................................................<br />
<strong>Conference</strong> Organization .........................................................................................................<br />
Technical Program Committee ........ ........ ............ ........... .........<br />
Table of Contents ....................................................................................................................<br />
[TuAI: Mobile Robot Navigation (I) 1<br />
............<br />
Foliage Discrimination Using a Rotating Ladar 1<br />
<strong>And</strong>res Castano and Larry Mafthies<br />
Moving Obstacle Detection for a Skid-Steered Vehicle Endowed with a Single 2-D Laser<br />
Scanner. ........................................................................................................................................... 7<br />
Kostas J. Kyriakopoulos and h'ikos Skounakis<br />
A Neural Network Based Torque Controller for Collision-Free Navigation of Mobile Robots ......... 13<br />
Simon X Yang, Tiemin Hu, Xiaobu Yuan, Peter X Liu, and Mar Meng<br />
Studying the Feasibility of Energy Harvesting in a Mobile Sensor Network. ................................... 19<br />
Mohommad Rahimi, Hardik Shah, Gaurav S. Sukhatme, John Heidemann, and Deborah Estrin<br />
A Robotic Walker that Provides Guidance.. ............................................................<br />
25<br />
Aaron Morris, Raghavendra Donamukkala, Anuj Kapuria, Aaron Sreinfeld, Judith T. Matthews,<br />
Jacqueline Dunbar-Jacobs, and Sebastian Thrun<br />
[TuA2: Control of Biped Robot (I)<br />
An Order n Dynamic Simulator for a Humanoid Robot with a Virtual Spring-Damper<br />
Contact Model ............................................................................................................................... 31<br />
Yoonkwon Hwang, Eiichi Inohira, Atstrshi Konno, and Masaru Uchiyama<br />
Towards a Factored Analysis of Legged Locomotion Models<br />
Richard Altendorjier, Daniel E. Koditschek and Philip Holmes<br />
Frontal Plane Algorithms for Dynamic Bipedal Walking<br />
45<br />
Chee-Meng Chew and Gill A. Praft<br />
Contact Phase Invariant Control for Humanoid Robot Based on Variable lmpedant Inverted<br />
Pendulum Model ..... 51<br />
Tornomichi Sugihara and Yoshihiko Nakomura<br />
Aerial Posture Control for 3D Biped Running Using Compensator around Yaw Axis ............<br />
Sang-Ho Hyon and Takashi Emura<br />
ITuA3: Mobile Robot Wheel Mechanisms<br />
'<br />
Development of Arm Equipped Single Wheel Rover: Effective Arm-Posture-Based Ste<br />
Method .......................................................................................................................... ......... 63<br />
Kazuhiro Motomura, Atsushi Kawakomi, and Shigeo Hirose<br />
Kinematic Modelling of Wheeled Mobile Manipulators ..............................<br />
69<br />
B. Bayle, J-Y. Fourquet, and M. Renaud<br />
I<br />
iii<br />
V<br />
vii<br />
37<br />
I<br />
vii
Trail-Laying Robots for Robust Terrain Coverage ........................................................................... 75<br />
Jonas Svennebring and Sven Koenig<br />
Curvature Based Point Stabilization for Compliant Framed Wheeled Modular Mobile<br />
Robots ........................................................................................................................................... 83<br />
Brian W Albiston and Mark A. Minor<br />
Scout Robot Motion Model .............................................<br />
Sascha A. Sroeter, Ian T. Burt, and Nikolaos Papanikolopoulos<br />
90<br />
ITuA4: Agriculture and Off-Road <strong>Robotics</strong><br />
Control of a Heavy Material Handling Agricultural Manipulator Using p-Synthesis and<br />
............................................<br />
Robust Gain Scheduling 96<br />
Satoru Sakai, Koichi Osuka, Michihisa Iida, and Mikio Umeda<br />
A Generalized Newton Method for Identification of Closed-Chain Excavator Arm<br />
parameters ................................................................................................................................. 103<br />
Yahya H, Zweiri, Lakmal D. Senevirutne, and Kaspar Alrhoefer<br />
~ ~ ~ ~ ~ ~ ~ ' ~ " ~ " " " " "<br />
Proprioceptive Control for a Robotic Vehicle over Geometric Obstacles 109<br />
Kenneth J. Waldron, Ronald C. Arkin, Douglas Bakkum, Ernest Merrill, and Muhammad Abdallah<br />
Adaptive Control for Car Like Vehicles Guidance Relying on RTK GPS:<br />
Rejection of Sliding Effects in Agricultural Applications ............................................................. 11 5<br />
R. Lenain, B. Thuilot, C. Cariou. and P. Marriner<br />
<strong>On</strong>-Line Soil Property Estimation for Autonomous Excavator Vehicles ........................................ 121<br />
Choopar Tan, Yahya H Zweiri, Kaspar Alrhoefer, and Lakmal D Senevirutne<br />
/TUAB: 3D Vision (I)<br />
Uncertainty-Driven Viewpoint Planning for 3D Object Measurements<br />
YE LiandZG. Liu<br />
Overview of Coded Light Projection Techniques for Automatic 3D Profiling<br />
Jordi Pug& Joaquim Salvi, Rafael Garcia, and Carles Matabosch<br />
Registration and Segmentation for 3D Map Building: A Solution Based on Stereo Vision<br />
and Inertial Sensors .................................................................................................................... 139<br />
Jorge Lobo, Luis Almeida, Jorio Alves, and Jorge Dins<br />
3D Modeling of Historic Sites Using Range and Image Data .................<br />
Peter K. Allen, loannix Starnos, A. Troccoli, B. Smith, M. Leordeanu, and YC. Hsu<br />
Detection of Classes of Features for Automated Robot Programming<br />
Markus Vincze, <strong>And</strong>reas Pichler, and Georg Biegelbauer<br />
127<br />
133<br />
145<br />
151<br />
puA6: Computer Aided Scheduling<br />
A Polynomial Algorithm for a Two-Job Shop Scheduling Problem with Routing Flexibility ........... 157<br />
Yozid Mori and Xiaolan Xie<br />
Efficient Selection of Scheduling Rule Combination by Combining Design of Experiment<br />
and Ordinal Optimization-Based Simulation .............................................................................. 163<br />
Bo- Wei Hsieh, Ski-Chung Chang, and Chun-Hung Chen<br />
viii
Deadlock-Free Scheduling of Flexible Manufacturing Workcells Using Automata Theory ........... 169<br />
Hamid R. Golmakani, James K. Mills, and Beno Benhabib<br />
Utility and Stability Measures for Agent-Based Dynamic Scheduling of Steel Continuous<br />
Casting ........................................................................................................................................ 175<br />
D. OuelhaG, P.I. Cowling, and S. Petrovic<br />
Plafform-Based AS/RS for Container Storage ...........................................<br />
181<br />
Chuanyu Chen. Shell-Ying Huang, Wen-Jing Hsu, Ah Cheong Toh, and Chee Kir Loh<br />
[TuA7: Actuator Design<br />
Development of a Hot Gas Actuator for Self-Powered Robots ...................................................... 188<br />
Michael Goldfarb. Eric J Barth, Michael A. Gogola, and Joseph A. Wehrmeyer<br />
Development of a Passively Operating Load-Responsive Transmission<br />
Hiroshi Maekawa and Kiyoshi Komoriya<br />
Analytic and Experimental Study on Fast Response MR-Fluid Actuator ...................................... 202<br />
Naoyuki Takesue, Junji Furusho, and Yuuki Kiyota<br />
Dynamic Modeling and Analysis of a Transmission-Based Robot Servoactuator ........................ 208<br />
W'illiom R. Hamel, Sewoong Kim, Renbin Zhou. and Arnold Lumsdnine<br />
Development of lsokinetic Exercise Machine Using ER Brake ..................................................... 214<br />
Takehiro Kihuchi, Junji Furusho, and Kunihiko Oda<br />
[TuA8: Bio-<strong>Robotics</strong> 1<br />
Automatic EMG Feature Evaluation for Controlling a Prosthetic Hand Using a Supervised<br />
Feature Mining Method: An Intelligent Approach ....................................................................... 220<br />
Hun-Pang Huang, Yi-Hung Liu, and Chun-Shin Wong<br />
Rhythmic Movement by Neural Oscillator with Periodic Stimulus<br />
Hiroahi Hirai and Furnio Miyazaki<br />
Visuo-Motor Coordination of a Humanoid Robot Head with Human-like Vision in<br />
Face Tracking ............................................................................................................................. 232<br />
Cecilia Laschi, Hiroyasu Miwa, Atsuo Takanishi, Eugenio Guglielrnelli, and Paolo Dario<br />
An Extensor Mechanism for an Anatomical Robotic Hand.....<br />
David D. Wilkinson, Michael Vande Weghe, and Yob Matsuoka<br />
A Clinical Jaw Movement Training Robot for Lateral Movement Training ...............<br />
Akihisa Okitto, Takahiro hue, Hideaki Takanobu, Arsuo Takonishi, Kayoko Ohrsuki, Masatoshi Ohnishi,<br />
and Yoshio Nakano<br />
ITuAS: Mobility and Manipulation<br />
194<br />
226<br />
...... 238<br />
... 244<br />
Mood and Task Coordination of Home Robots .............................................................................. 250<br />
Myung-Jin Jung, Fumihiro Arai, Yasuhisa Hasegawa, ond Toshio Fukuda<br />
Remote Book Browsing System Using a Mobile Manipulator ....................................................... 256<br />
Tersuo Tomizawa, Akihisa Ohya, and Shin'ichi Yura<br />
Environment Identification by Comparing Maps of Landmarks<br />
Jens-Sleffen Gurmann, Masaki Fukuchi, and Kohraro Sabe<br />
262<br />
ix
Behavior-Based Mobile Manipulation Inspired by the Human example......-.........^.^..^^.........'......^^ 268<br />
B.J. W Waarsing, M. hiuttin, and H. Van Brussel<br />
Reliability Analysis of Mobile Robots ............................................................................................. 274<br />
Jennfer Carlson andRobin R. Murphy<br />
ITuA10: Micro <strong>Robotics</strong> (I)<br />
Wet Shape Memory Alloy Actuators for Active Vasculated Robotic Flesh-- .............................. 282<br />
Stephen A. Mascaro and N Harry Asada<br />
A Thermally Actuated Polymer Micro Robotic Gripper for Manipulation of Biological Cells ......... 288<br />
Ho-Yin Chan and Wen J. Li<br />
Actively Servoed Multi-Axis Microforce Sensors .....................<br />
Yu Sun, D. P. Potasek D. Piyabongkcrn, R. Rojamani, and B.J. Nelson<br />
Pico-Newton Order Force Measurement Using a Calibrated Carbon Nanotube Probe by<br />
Electromechanical Resonance.. ................................................................................................. 300<br />
Fumihito Arai, Masahiro Nakcjima, Lixin Dong, and Toshio Fukuda<br />
Novel Touch Sensor with Piezoelectric Thin Film for Microbial Separation .................................. 306<br />
Fumihito Arai, Kouhei Motoo, Paul G.R. Kwon, Toshio Fukuda, Akihiko Ichikowa, and Tohoru Katsuragi<br />
lTuAl1: Mechanism Design<br />
A Multifunctional Hybrid Hip Joint for Improved Adaptability in Miniature Climbing Robots ......... 312<br />
Satya P. Krosuri and Mark A. Minor<br />
Compliant Constant-Force Mechanism with a Variable Output for MicrolMacro Applications<br />
.................................................................................................................................................... 318<br />
Dhiraj R. Nahar and Thomas Sugar<br />
Design and Foot Contact of a Leg Mechanism with a Flexible Gear System<br />
K.H. Low andAiqiang Yang<br />
Conceptual Design and Kinematic Analysis of a 3-DOF Robot Wrist<br />
Meng Li, Tian Huang, and Zhanrian Li<br />
A Novel Mechanism for Implementing Multiple Collocated Spherical Joints<br />
Paul Bosscher and lmme Ebert-Uphofj<br />
ITuA12: Geometry Issues in <strong>Robotics</strong><br />
A Branch-and-Prune Algorithm for Solving Systems of Distance Constraints<br />
Josep Maria Porta, Federico Thomas, Lluis Ros, and Carme Torras<br />
Exact Collision Detection of Two Moving Ellipsoids under Rational Motions .............<br />
Yi-King Choi, Wenping Wang, and Myung-So0 Kim<br />
Coordinate-Free Formulation of a 3-2-1 Wire-Based Tracking Device Using Cayley-Menger<br />
........ ................ ........................................................ 355<br />
Federico Thomas, Erika Ottaviano, Lluis Ros, and Marco Ceccarelli<br />
Examination by Software Simulation on Preliminary-An<br />
Robot's Following Action by Lamp or Blowouts .......... ................................ 362<br />
Takcfumi Matsumaru, Hisashi Endo, and Tomotaka It0<br />
.....<br />
294<br />
324<br />
330<br />
336<br />
342<br />
349<br />
X
Float Arm V: Hyper-Redundant Manipulator with Wire-Driven Weight-Compensation<br />
Mechanism .................................................................................................................................. 368<br />
Shigeo Hirose, Tomoyuki Ishii, and Atsuo Haishi<br />
lTuAl3: Human Robot Interaction (I)<br />
Coordination of Human and Mobile Manipulators Formation in a Perceptive Reference<br />
Frame .......................................................................................................................................... 374<br />
Jindong Tan, Ning Xi, Ami1 Goradia, and Weihua Sheng<br />
Proposal and Evaluation of Natural Language Human-Robot Interface System Based on<br />
Conversation Theory .........................<br />
380<br />
'<br />
Yasushi Naknuchi, Piyawar Naphallalung, Tabshi Takahashi, Takashi Matrubara, and Eiichi Kashiwagi<br />
Visual Human Machine Interface by Gestures<br />
Manel Frigola, Josep Fernandez. and Joan Aranda<br />
Realizing Personality in Audio-Visually Triggered Non-Verbal Behaviors<br />
Hiroshi G. Okuno, Kazuhiro Nakadai, and Hirorooki Kitono<br />
Robot Recognizes Three Simultaneous Speech by Active Audition ............................................. 398<br />
Kazuhiro h'aakadai, Hiroshi G. Okuno, and Hiroaki Kitano<br />
ITuA14: SLAM<br />
Airborne Simultaneous Localisation and Map Building ................................................................. 406<br />
Jong-Hyuk Kim and Salnh Sukkarieh<br />
Real Time Data Association for FastSLAM .....................<br />
Juan Nido, Jose Guivant, Eduardo Nebor, and Sebastian Thrun<br />
Outdoor Exploration and SLAM Using a Compressed Filter<br />
John Folkesson and Henrik Christensen<br />
Linear Time Vehicle Relocation in SLAM ........<br />
,427<br />
Jose! Neira, Juan D. Tards, and Jose! A. Castellanos<br />
A Genetic Algorithm for Simultaneous Localization and Mapping ................................................. 434<br />
Tom Ducbtr<br />
[TuMI: Mobile Robot Navigation (11)<br />
3D-Odometry for Rough Terrain-Towards Real 3D Navigation<br />
.440<br />
Pierre Lamon and Roland Siepart<br />
Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot .............................................. 446<br />
Roland Philippsen and Roland Siegwart<br />
Internal Posture Sensing for a Flexible Frame Modular Mobile Robot<br />
,452<br />
Roy Merrell and Mark A. Minor<br />
Mobile Robot Navigation Using Sensor Fusion ......................<br />
,458<br />
Fernando Lizarralde, Eduardo VL. Nunes, Liu Hsu, and John T Wen<br />
Optimal Navigation and Object Finding without Geometric Maps or Localization ......................... 464<br />
Benjamin Tovar, Steven M. LaValle, and Rafael Murrieta<br />
386<br />
392<br />
412<br />
,419<br />
xi
lTuM2: Control of Biped Robot (I!)<br />
A Small Biped Entertainment Robot Exploring Attractive Applications ......................................... 471<br />
Yoshihiro Kuroki, Mosahiro Fujitn. Tatsuzo Ishida, Ken'ichiro Nagasaka, and Jin'ichi Yamaguchi<br />
Development of Walking Manipulator with Versatile Locomotion<br />
Yusuke Ota, Tutsuya Tamaki, Kan Yoneda, and Shigeo Hirose<br />
Sensor and Control Design of a Dynamically Stable Biped Robot ................................................ 484<br />
K. Lofler, M. Gienger, and F. Pfifler<br />
Double Spherical Joint and Backlash Clutch for Lower Limbs of Humanoids ............................... 491<br />
Masafimi Okada, Tetsuya Shinohara, Tatsuya Gotoh, Shigeki Ban, and Yoshihiko Nakamura<br />
ITuM3: Omnidirectional Vehicles<br />
Two Wheels Caster Type Odometer for Omni-Directional Vehicles<br />
Nobuhiro Ushimi, Motoji Yamamoto, and Akira Mohri<br />
CVT Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels for<br />
Energy Efficient Drive ................................................................................................................. 503<br />
Kyung-Seok Byun and Joe-Bok Song<br />
Exponential Control Law for a Multi-Degree of Freedom Mobile Robot ........................................ 509<br />
Gabriel Ramirez and Said Zeghioul<br />
A Common Reference Object Concept to Cooperative Transportation<br />
Xin Yang, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi<br />
The Dynamic Modeling and Analysis for an Omnidirectional Mobile Robot with Three<br />
Caster Wheels ............................................................................................................................ 521<br />
Joe Heon Chung, Byung Ju Yi, Whee Kuk Kim, and Hogil Lee<br />
ITuM4: HelicopterlAir Vehicle 1<br />
Autonomous Hovering Control and Test for Micro Air Vehicle ...................................................... 528<br />
Huai-yu Wu, Zhao-ying Zhou, and Dong Sun<br />
Micro Air Vehicle: Architecture and Implementation ...................................................................... 534<br />
Huai-yu Wu, Dong Sun, Zhao-ying Zhou, Shen-shu Xiong, and Xiao-hao Wang<br />
Lateral Path-Following GPS-Based Control of a Small-Size Unmanned Blimp<br />
Emmanuei Hygounenc and Philippe Souires<br />
Low-Cost Flight Control System for a Small Autonomous Helicopter<br />
546<br />
Jonathan M. Roberts, Peter I Cork, and Cregg Busky<br />
Integrated Modeling and Robust Control for Full-Envelope Flight of Robotic Helicopters ............ 552<br />
Marc0 La Civila, George Papageorgiou, William C. Messner, and Take0 Kanade<br />
ITuM5: Omnidirectional Vision<br />
Omnidirec.onal Vision for an Autonomous Helicopter .................................................................. 558<br />
Stefan Hrabar and Gaurav S. Sukhatme<br />
Iconic Memory-Based Omnidirectional Route Panorama Navigation<br />
Yasushi Yagi, Kousuke Imai, and Masahiko Yachida<br />
477<br />
497<br />
515<br />
540<br />
564<br />
I<br />
xii
Multibody Motion Estimation and Segmentation from Multiple Central Panoramic Views ............ 571<br />
Omid Shakernia, Reni Vidal, and Shankar Sastry<br />
Visual Odometry from an Omnidirectional Vision System<br />
Roland Bunschoten and Ben Krose<br />
Formation Control of Nonholonomic Mobile Robots with Omnidirectional Visual Servoing<br />
and Motion Segmentation ........................................................................................................... 584<br />
Rend Vidal, Omid Shakernia, and Shankar Sastry<br />
/TuMG: Diagnostics and Networked Manufacturing Systems<br />
Web-Based Hardware-Neutral Sequential Controller .................................................................... 590<br />
Chiaming Yen, Wujcng Li, and Jui Cheng Lin<br />
Development of a Web-Services-Based e-Diagnostics Framework.<br />
Min-Hsiung Hung, Fan-Tien Cheng, and Sze-Chien Yeh<br />
A Novel Approach to Fault Diagnostics and Prognostics<br />
604<br />
C. Kwan. X. Zhang, R. Xu. and L. Haynes<br />
Intelligent Diagnosis Method of Multi-Fault State for Plant Machinery Using Wavelet<br />
Analysis Genetic Programming and Possibility Theory ............................................................ 610<br />
Peng Chen, Masatoshi Taniguchi, and Toshio Toyota<br />
Distributed Modeling and Simulation of 300mm Fab lntrabay Automation Systems Using<br />
Distributed Agent Oriented Petri Nets ........................................................................................ 616<br />
Chung-Hsien Kuo and Chien-Sheng Huang<br />
[TuM7: Actuators and Drivers<br />
A New Approach to Compensate Friction in Robotic Actuators<br />
Sebastiio Cicero Pinheiro Comes, and Vagner Santos Da Rosa<br />
Modeling and Control of a Monopropellant-Based Pneumatic Actuation System<br />
Eric J. Borth, Michael A. Cogola, and Michael Coldfarb<br />
Actuator Failure Detection and Isolation Using Generalized Momenta<br />
.... 634<br />
Alessandro De Luca and Rafaella Mattone<br />
Development on Conveyance Module with New Power Drive Mechanism for Thin Wire<br />
production System ....... ......................................................................................................... 640<br />
Hidenori Ishihora, Kimihito Yukawa, and Atsutoshi Ikeda<br />
Large-scale Servo Control Using a Matrix Wire Network for Driving a Large Number of<br />
Actuators, .................................................................................................................................... 646<br />
Kyu-Jin Cho, Samuel Au, and H. Harry Asada<br />
[TuM8: Medical Diagnostic <strong>Robotics</strong> 1<br />
Remote Actuation Mechanism for MR-Compatible Manipulator Using Leverage and<br />
Parallelogram-Workspace Analysis, Workspace Control, and Stiffness Evaluation ............... 652<br />
Yoshihiko Koseki, Noriho Koyachi, Tatsuo Arai, and Kiyoyuki Chinzei<br />
The Development of a Bendable Colonoscopic Tip ....................................................................... 658<br />
C. Thomann. M. Bitemps, and T Reduce<br />
577<br />
596<br />
622<br />
628<br />
xiii
Touching Stomach by Air ........... .......... ...... 664<br />
Makoio Kaneko, Tomohiro Kawahara, Satoshi Matsunago, Toshio Tsuji, and Shinji Tanoka<br />
An MR Compatible Robotic Technology .................................................................<br />
670<br />
R. Maser. R. Gassert, E. Burdet, L. Soehe, H.R. Woodlli, J. Erni, W Maeder. and H Bleuler<br />
Impedance Controller and Its Clinical Use of the Remote Ultrasound Diagnostic System ........... 676<br />
Norihiro Koizumi, Shin'ichi Warisawa, Hiroyuki Hashizume, and Mamoru Milsuishi<br />
ITuMS: Dexterous Hand and Control<br />
DLR Hand II: Hard- and Software Architecture for Information Processing .................................. 684<br />
S. Haidacher, J. Butterfass, M. Fischer, M. Grebenstein, K. Joehl, K. Kunze, M. Nick/, N. Seilz, and<br />
G. Hirzinger<br />
Design of a New Grasper Having XYZ Translational Motion<br />
Dong Yi, Byung-Ju Yi, and WheeKuk Kim<br />
Under-Actuated Passive Adaptive Grasp Humanoid Robot Hand with Control of Grasping<br />
Force .................... ............. ............ ............ .......... 696<br />
Wenzeng Zhang, Qiang Chen, Zhenguo Sun. and Dongbin Zhao<br />
DLR Hand 11: Experiments and Experiences with an Anthropomorphic Hand .............................. 702<br />
Ch. Borst, M. Fischer, S. Haidacher, H. Liu, und G. Hirzinger<br />
Novel Fingertip Equippe<br />
d<br />
Robotic Manipulation ....... 708<br />
Kouji Murakami and Tsutomu Hasegawa<br />
[TuMIO: Distributed Robotic Systems<br />
690<br />
Automatic Locomotion Pattern Generation for Modular Robots .................................................... 714<br />
Akiya Kamimura, Haruhisa Kurokawa, Eiichi Yoshida, Kohji Tomita, Satoshi Murota. and Shigeru Koknji<br />
From Local to Global Behavior in Intelligent Self-Assembly .......................................................... 721<br />
Chris Jones and Muja J. Matarid<br />
Functional Reactive Programming as a Hybrid System Framework<br />
Izet Pembeci and Gregory Hager<br />
Formation Constrained Multi-Robot System in Unknown Environments<br />
Zhiqinng Cao. Liuna'un Xie, Bin Zhang, Shuo Wang, and Min Tan<br />
Enveloping Obstacles with Hexagonal Metamorphic Robots<br />
Jennifer E. Walter, Elizabeth M. Tsai, and Nancy M. Amato<br />
lTuMl1: Parallel Robot (I)<br />
An In-Parallel Actuated Manipulator with Redundant Actuators for Gross and Fine Motions ....... 749<br />
Yukio Tukeda, Kazuki Ichiknwa, Hiroaki Funabashi, and Kazuya Hirose<br />
Type Synthesis of 4-DOF Parallel Manipulators ............................................................................ 755<br />
Qinchuan Li and Zhen Hung<br />
Singularity-Free Path Planning of Parallel Manipulators Using Clustering Algorithm and<br />
Line Geometry ............................................................................................................................ 761<br />
Anjan Kumar Dash, I-Ming Chen, Song Huat Yeo, and Guilin Yang<br />
727<br />
735<br />
74 1<br />
I<br />
xiv
Singularity Analysis of the HALF Parallel Manipulator with Revolute Actuators<br />
Xin-Jun Liu, Jongwon Kim, andKun-Ku Oh<br />
The Management of Parallel-Manipulator Singularities Using Joint-Coupling<br />
I-Ming Chen, Jorge Angeles, Theingi, and Chuan Li<br />
767<br />
773<br />
[TuM12: Computational Intelligence (I)<br />
Evolutionary Acquisition of Handstand from Backward Giant Circle by a Three-Link Rings<br />
......<br />
Gymnastic Robot ..) 779<br />
Takaaki Yamada, Keigo Waranabe, and Kauo Kiguchi<br />
Dexterous Manipulation from Pinching to Power Grasping-Strategy Selection According<br />
to Object Dimensions and Grasping Position-. 785<br />
Yasuhisa Hasegax'a, Hayaro lob, Toshio Fukuda, and Kensaku Kanada<br />
Extend QDSEGA for Controlling Real Robots-Acquisition<br />
Snake-like Robot ........<br />
Kazuyuki 110, Tersushi Kamegawa, and Fumitoshi Marsuno<br />
of Locomotion Patterns for<br />
A Study toward Cognitive Action with Environment Recognition by a Learning Space Robot<br />
Kei Senda, Tsuromu Matsumoro. and Yuzo Okano<br />
Learning New Representations and Goals for Autonomous Robots<br />
Williams Poquier and Raja Chatila<br />
ITuM13: Haptic Interface (I)<br />
791<br />
. -.<br />
803<br />
Enabling Multi-Finger, Multi-Hand Virtualized Grasping ...<br />
Federico Barbagli, Kenneth Salisbp Jr., and Roman Devengenzo<br />
Improvement of Passive Elements for Wearable Haptic Displays ................................................. 816<br />
Sadao Kawamuro, Kolsuya Kanaoka, Yuichiro Nakayama, Jinwoo Jeon, and Daisuke Fujimoro<br />
Sampled and Continuous Time Passivity and Stability of Virtual Environments ........................... 822<br />
Jee-Hwan Ryu, Yoon Sang Kim, and Blake Hannaford<br />
The Haptic Scissors: Cutting in Virtual Environments ..............<br />
A.M. Okamura, R.J. Webster Ill, J. T. Nolin, K. W. Johnson, and H. Jafp<br />
Digital Clay: Architecture Designs for Shape-Generating Mechanisms ........................................ 834<br />
Paul Bosscher and lmme Eberl-Uphoff<br />
ITuM14: Localization (I)<br />
<strong>On</strong>line Simultaneous Localization and Mapping with Detection and Tracking of Moving<br />
Objects: Theory and Results from a Ground Vehicle in Crowded Urban Areas ........................ 842<br />
Chieh-Chih Wang, Charles Thorpe, and Sebastian Thmn<br />
Using Visual Features to Build Topological Maps of Indoor Environments... ....<br />
Paul E. Rybski, Franziska Zacharias, Jean-Franqois Lett, Osama Masoud, Maria Gini. and<br />
Nikolaos Papanikolopoulos<br />
Vision-Based Fast and Reactive Monte-Carlo Localization<br />
Thomas Rofer and Marlhias Jiingel<br />
' 809<br />
828<br />
,850<br />
,856<br />
I<br />
xv
Object-Based Localization and Mapping Using Loop Constraints and Geometric Prior<br />
Knowledge .................................................................................................................................. 862<br />
Masahiro Tomono and Shin'ichi Yuta<br />
Putting the 'I' in 'Team': An Ego-Centric Approach to Cooperative Localization<br />
<strong>And</strong>rew Howard, Maja J Matarit, and Caurav S. Sukhatme<br />
[TuPI : Vision-Based Navigation (I)<br />
Direct Plane Tracking in Stereo Images for Mobile Navigation ..................................................... 875<br />
Jason Corso, Darius Burschka, and Gregory Hager<br />
Location Estimation and Trajectory Prediction of Moving Lateral Vehicle Using Two Wheel<br />
Shapes Information in 2-D Lateral Vehicle Images by 3-D Computer Vision Techniques<br />
Chih-Chiun La; and Wen-Hsiang Tsni<br />
Path-Dependent Gaze Control for Obstacle Avoidance in Vision Guided Humanoid<br />
Walking ................................. .................... ................... ....... 887<br />
Javier F. Seam, Klaus H. Strobl, and Gtinther Schmidt<br />
Mobile Robot Navigation in Dynamic Environments Using Omnidirectional Stereo ...............<br />
Hiroshi Koyasu, Jun Miura, and Yoshioki Shirai<br />
Self-Positioning with an Omnidirectional Stereo System .....................<br />
Jyun-ichi Eino, Toshinobu Takashi, Jyun-ichi Takiguchi. and Takumi Hashizume<br />
lTuP2: Control of Biped Robot (111)<br />
A Motion Planning Approach to Fast Parking Control of Mobile Robots<br />
Ti-Chung Lee, Chi-Yi Tsai, and Kai-Tai Song<br />
<strong>On</strong>line Humanoid Walking Control System and a Moving Goal Tracking Experiment ....... 91 1<br />
Koichi Nishiwaki, Satoshi Kagami, James J Kufner, Masayuki habn, and Hirochika Inoue<br />
Autonomous Reactive Control for Simulated Humanoids ............................................................. 917<br />
Petros Faloutsos, Michiel van de Panne, and Demetri Terzopoulos<br />
The Sway Compensation Trajectory for a Biped Robot<br />
Ryo Kurazume, Tsutomu Hasegawa, and Kan Yoneda<br />
<strong>On</strong>line Footstep Planning for Humanoid Robots<br />
.....<br />
...........<br />
.........<br />
James Kuffner, Satoshi Kagami, Koichi Nishiwaki, Masayuki Inaba, and Hirochika lnoue<br />
ITuP3: Multi-Mobile Robot System (I) 1<br />
Decentralized Control of Multiple Mobile Manipulators Based on Virtual 3-D Caster Motion<br />
for Handling an Object in Cooperation with a Human ................ .............. ..... 938<br />
Yasuhisa Hirata. Youhei Kume, Zhi-Dong Wang, and Kazuhiro Kosuge<br />
Time-Optimal Cooperative Control of Multiple Robot Vehicles ..................................................... 944<br />
Tomonari Furukawa. Hugh F. Durrant- Whyte, and Gamin; Dissanayake<br />
Analysis of Formation Control of Cooperative Transportation of Mother Ship by SMC ................ 951<br />
Masaki Yamakita, Yasuaki Taniguchi, and Yuichirou Shukuya<br />
Multi Mobile Robot Navigation Using Distributed Value Function Reinforcement Learning 957<br />
Sharareh Babvey, Omid Momtahan, and Mohammad R. Meybodi<br />
868<br />
899<br />
905<br />
925<br />
932<br />
xvi
.......<br />
huP4: Underwater <strong>Robotics</strong><br />
I<br />
Trajectory Sonar Perception ............<br />
Richard J. Rikoski and Sohn J. Leonard<br />
Vision-Based Localization of an Underwater Robot in a Structured Environment ........................ 971<br />
M. Curreras, P. Ridao, R. Garcia, and T. Nicosevici<br />
Vision-Based Linear Motion Estimation for Unmanned Underwater Vehicles .............................. 977<br />
Massimo Cuccia<br />
Determining the Bodily Motion of a Biomimetic Underwater Vehicle under Oscillating<br />
Propulsion ................................................................................................................................... 983<br />
Senhwa Guo, Forng-Chen Chiu, Chih-Chieh Chen, and Yueh Sheng Ho<br />
Correction of Shading Effects in Vision-Based UUV Localization<br />
R. Garcia, X. Cufl, M. Curreras. and P. Ridao<br />
[TuPL: 3D Vision (11) 1<br />
Design of an Artificial Mark to Determine 3D Pose by Monocular Vision ........<br />
Rie Kawki, Jun Ota, Takahisa Mizuta, Tomomi Kifo, Tamio Arai, Tsuyoshi Ueyama, and<br />
Tsuyoshi Nishiyama<br />
Foveated Observation of Shape and Motion<br />
Sumes Davis and Xing Chen<br />
Automated Multisensor Polyhedral Model Acquisition ......................................................... ~<br />
D. Ortin. JM.M. Monriel, andA. Zissermun<br />
963<br />
989<br />
' 995<br />
1001<br />
1007<br />
Structure and Pose from Single Images of Symmetric Objects with Applications to Robots<br />
Navigation ................................................................................................................................. 1013<br />
Allen Y Yang, Wei Hong, and Yi Ma<br />
A Comparison of Gaussian and Mean Curvatures Estimation Methods on Triangular<br />
Meshes ... "' 1021<br />
Tatiana Suraddy, Evgeny Magid, Octavian Soldea, Gershon Elber, and Ehud Rivlin<br />
ITuP6: Semiconductor Factory Automation<br />
Effective OHT Dispatching for Differentiated Material Handling Services in 300mm Wafer<br />
........ ............. .....<br />
Foundry ... 1027<br />
Chia-Nun Wang and Da-Yin Liuo<br />
ERCN' Merged Nets for Modeling Degraded Behavior and Parallel Processes in<br />
Semiconductor Manufacturing Systems ................................................................................... 1033<br />
MuDer Jeng, Xiaolan Xie, and Sheng-Luen Chung<br />
Schedule Stabilization and Robust Timing Control for Time-Constrained Cluster Tools....<br />
Ja-Hee Kim and Tae-Eog Lee<br />
Structural Analysis of Resource Allocation Systems with Synchronization Constraints .<br />
Spyros Reveliotis<br />
An Overview of Semiconductor Fab Automation Systems<br />
Sheng-Luen Chung and MuDer Jeng<br />
1050<br />
xvii
[TuP7: Adaptive Control<br />
Robustness of Image-Based Visual Servoing with Respect to Depth Distribution Errors ........... 1056<br />
&io Malis and Patrick Rives<br />
Uniform Parametric Convergence in the Adaptive Control of Manipulators:<br />
A Case Restudied ..................................................................................................................... 1062<br />
Antonio Loria, Rafael Kelly, and <strong>And</strong>rew R. Ted<br />
Novel Approach in the Adaptive Control of Systems Having Strongly Nonlinear Coupling<br />
.... .....<br />
between Their Unmodeled Internal Degrees of Freedom<br />
Imre J. Rudas, K. Kozlowski, Jdzsef K. Tar, and Karel Jezernik<br />
..... 1068<br />
Adaptive Control of Robot Manipulators Using Multiple Neural Networks .................................. 1074<br />
Choon-Young Lee and Ju-Jang Lee<br />
Collision Detection System for Manipulator Based on Adaptive Impedance Control Law ....<br />
Shinya Morinaga and Kazuhiro Kosuge<br />
[TuP8: Endoluminal Surgery-Microendoscopy (I)<br />
Review of Locomotion Techniques for Robotic Colonoscopy ..................................................... 1086<br />
Invon Kassim, Wan S. Ng, Gong Feng, Soo J Phee, Paolo Dario, and Charles A. Mosse<br />
Functional Colonoscope Robot System 1092<br />
Byungbu Kim, Younkoo Jeong, Hyun-you<br />
Hyper Redundant Miniature Manipulator "Hyper Finger" for Remote Minimally Invasive<br />
Surgery in Deep Area ............................................................................................................... 1098<br />
Koji Ikuta, Takohiko Hasegawa. and Shinichi Daifu<br />
Development of Remote Microsurgery Robot and New Surgical Procedure for Deep and<br />
................................... ......<br />
Narrow Space 1103<br />
Koji Ikuta, Keiichi Yamamoto, and Keiji Sasaki<br />
Simulating Soft Tissue Cutting Using Finite Element Models ................................................<br />
C. Mendoza and C. Laugier<br />
/TUPS: Grasping -- Analysis<br />
Dynamic Preshaping for a Robot Driven by a Single Wire<br />
Mitsuru Higashimori. Makoto Kaneko and Masatoshi Ishikawa<br />
1115<br />
I<br />
J<br />
Optimization of Grasping by Using a Required External Force Set.<br />
Tetsuyou Waranabe and Tsuneo Yoshikawa<br />
Ranking Planar Grasp Configurations for a Three-Finger Hand ...<br />
Eris Chinellato. Robert B. Fisher, Antonio Morales. and Angel P. del Pobil<br />
<strong>On</strong> the Force Capability of Underactuated Fingers<br />
Lionel Birglen and Climent M. Gosselin<br />
1127<br />
1133<br />
1139<br />
puP10: Micro Systems<br />
Biomimetic Sensor Suite for Flight Control of a Micromechanical Flying Insect:<br />
xviii
Design and Experimental Results .........................................<br />
Wei-Chung Wu, Luca Schenato, Robert J. Wood, and Ronald S. Fearing<br />
Model Identification and Attitude Control for a Micromechanical Flying Insect<br />
Including Thorax and Sensor Models ................................<br />
Xinyan Deng, Luca Schenato, and Shankar S. Sastry<br />
Dispersion Behaviors for a Team of Multiple Miniature Robots ...................................................<br />
Janice L. Pearce, Paul E. Rybski, Sascha A. Stoeter, and Nikolaos Papanikolopoulos<br />
Synthetic Gecko Foot-Hair MicrolNano-Structures for Future Wall-Climbing Robots<br />
Mefin Sitti and Ronald S. Fearing<br />
Design and lmplementaion of MARG Sensor for 3-DOF Orientation Measurement of Rigid<br />
Bodies ..................................................................................................................................<br />
Eric R. Bachmann, Xiaoping Yun, Doug McKinney, Robert B. McChee, and MichaelJ Zyda<br />
146<br />
152<br />
158<br />
164<br />
171<br />
/Tup1 1 : Parallel Robot (11)<br />
Mobility Analysis of Lower-Mobility Parallel Manipulators Based on Screw Theory ................... 1179<br />
Qinchuon Li and Zhen Huang<br />
Design and Control of a Novel 4-DOFs Parallel Robot H4 ..........................................................<br />
H B. Choi, 0. Company, F. Pierrot, A. Konno, T Shibuhwa, and M. Uchiyuma<br />
Vision-Based Kinematic Calibration of a H4 Parallel Mechanism ...............................................<br />
Pierre Renaud, Nicolas <strong>And</strong>re8 Frdddric Marquet, and Philippe Martinel<br />
Determination of the Optimal Geometry of Modular Parallel Robots ..........................................<br />
J-P. Merlet<br />
Type Synthesis of 5-DOF Parallel Manipulators.<br />
.................................................<br />
Qinchuan Li and Zhen Huang<br />
ITuP12: Computational Intelligence (11) 1<br />
Planning and Control of UGV Formations in a Dynamic Environment:<br />
A Practical Framework with Experiments ............................<br />
....................<br />
. . 1209<br />
t'mgiuiy Ikro. lkn,,muz 1,~xim .Sunil K .l,q~uud I.dwod I.,*
Telerobotic Haptic System to Assist the Performance of Occupational Therapy Tests by<br />
Motion-lmpaired Users ............................................................................................................. 1247<br />
Norali Pernalele, Wentao Yu, Rajiv Dubey, and Wilfrido A. Moreno<br />
A Telemanipulation System for Psychophysical Investigation of Haptic Interaction ................... 1253<br />
B J. Unger, R. L. Klafzb; and R. L. Hollis<br />
The FeTouch Project ............................................<br />
1259<br />
B. la Torre, D. Prattichizzo, F. Barbagli, and A. Vicino<br />
Development of a System for Experiencing Tactile Sensation from a Robot Hand by<br />
Electrically Stimulating Sensory Newe Fiber ........................................................................... 1264<br />
Makolo Shimojo, Takafumi Suzuki, Akio Namiki. Takashi Sailo, Masanari Kunimoto, Ryota Makino,<br />
Hironori Ogawa, Masaloshi Ishikawa, and Kunihiko Mabuchi<br />
lTuPl4: Localization (11)<br />
Mobile Robot Self-Localization Based on Global Visual Appearance Features<br />
Chao Zhou, Yucheng We;, and Tieniu Tan<br />
Fast and Accurate Vision-Based Pattern Detection and Identification ...........<br />
James Bruce and Manuela Veloso<br />
1271<br />
1277<br />
Ultrasonic Self-Localization and Pose Tracking of an Autonomous Mobile Robot via Fuzzy<br />
Adaptive Extended Information Filtering ................................................................................... 1283<br />
Hung-Hsing Lin, Ching-Chih Tsai, Jui-Cheng Hsu, and Chih-Fu Chang<br />
Probabilistic Visual Recognition of Artificial Landmarks for Simultaneous Localization and<br />
Mapping ........................................................................................................................<br />
""' 1291<br />
David Prasser and Gordon Wyeth<br />
3D Localization and Tracking in Unknown Environments .._.. .................................... 1297<br />
P. Saeedi, D. G. Lowe, and P.D. Lawrence<br />
/TuEI: Vision-Based Naviaation 1111<br />
Weighted Line Fitting Algorithms for Mobile Robot Map Building and Efficient Data<br />
Representation ......................................................................................................................... 1304<br />
Samuel T. Pjster, Stergios I. Roumeliofis, and Joel W Burdick<br />
Learning Self-organizing Maps for Navigation in Dynamic Worlds ........ ..... .... 1312<br />
Rui Aralijo, Gonqalo Gouveia. and Nuno Santos<br />
BE-Viewer: Vision-Based Navigation System to Assist Motor-impaired People in Docking<br />
Their Mobility Aids .................................................................................................................... 1318<br />
Angelo M. Sabatini, Vincenzo Genovese, and Eliseo S. Maini<br />
Using Learned Visual Landmarks for Intelligent Topological Navigation of Mobile Robots ........ 1324<br />
M. Mota. J.M. Armingol, A. de la Escalera, andM.A. Salichs<br />
Environment Modelling for Topological Navigation Using Visual Landmarks and<br />
Range Data .................................................................................................................. 1330<br />
F. Lerasle, J. Carbajo, M. Dew, and J.B. Hayet<br />
ITuE2: New Challenges in Biped Locomotion 1<br />
Running Pattern Generation and Its Evaluation Using a Realistic Humanoid Model .................. 1336<br />
Takashi Nagasaki, Shuuji Kajita, Kazuhito Yokoi, Kenji Kaneko, and Kazuo Tanie<br />
I<br />
xx
Synthesis of Walking Primitive Databases for Biped Robots in 3D-Environments ..................... 1343<br />
J. Denk and G. Schmidt<br />
Gait Transitions for Walking and Running of Biped Robots ................<br />
Ohiing Kwon and Jong Hyeon Park<br />
1350<br />
Development and Control of Autonomous, Biped Locomotion Using Efficient Modeling,<br />
Simulation and Optimization Techniques ................................................................................ 1356<br />
Michael Hardt, Oskar von St& Dirk Wollherr, and Martin Buss<br />
Co-Evolution of Morphology and Walking Pattern of Biped Humanoid Robot Using<br />
Evolutionary Computation-Designing the Real Robot ........................................................... 1362<br />
Ken Endo, Takashi hfaeno, and Hiroaki Kitano<br />
/TuEB: Dynamic Control of Multi-Legged Robot<br />
<strong>On</strong> the Stable Passive Dynamics of Quadrupedal Running ........................................................ 1368<br />
Ioonnis Poulakakis, Evangelos Papadopoulos, and Martin Buehler<br />
Template Based Control of Hexapedal Running<br />
Uluc Saronli and Daniel E. Koditschek<br />
Stair Descent in the Simple Hexapod 'Rhex'<br />
D. Campbell and M. Buehler<br />
1374<br />
1380<br />
Towards a Dynamic Actuator Model for a Hexapod Robot .......<br />
1386<br />
Dave McMordie, Chris Prahacs, and Martin Ruehler<br />
A Leg Configuration Sensory System for Dynamical Body State Estimates in a Hexapod<br />
Robot ........................................................................................................................................ 1391<br />
Pei-Chun Lin, Haldun KomsuoBlu, and Daniel E. Koditschek<br />
/TuES: Visual Sensing and Application (I)<br />
A Truncated Least Squares Approach to the Detection of Specular Highlights in Color<br />
Images ...................................................................................................................................... 1397<br />
Jae Byung Park and Avinash C. Kak<br />
A Kite and Teleoperated Vision System for Acquiring Aerial Images<br />
Paul Y. Oh and Rill Green<br />
1404<br />
Appearance-Based Representation and Recognition of Human Motions ................................... 1410<br />
M. hfasudur Rahman and Seiji lshikawa<br />
Automatic Detection and Response to Environmental Change ................................................... 1416<br />
Scott Lenser and Manuela Veloso<br />
Sky/Ground Modeling for Autonomous MAV Flight<br />
1422<br />
Sinisa Todorovic, Michael C. iVechvba, and Peter C. @U<br />
lTuE6: Petri Nets in Automated Systems Design (I)<br />
AGV Routing for Conflict Resolution in AGV Systems<br />
1428<br />
Noiqi Wu and MengChu Zhou<br />
Colored Timed Petri-Net and GA Based Approach to Modeling and Scheduling for Wafer<br />
Probe Center ............................................................................................................................ 1434<br />
Shun-Yu Lin, Li-Chen Fu, Tsung-Che Chiang, and Yi-Shiuan Shen<br />
xxi
........................<br />
Petri Net Controllers to Enforce Disjunction of GMECs<br />
Francesco Basile, Ciro Carbone, and Pasquale Chiacchio<br />
1440<br />
Property-Preserving Composition of Augmented Marked Graphs that Share Common<br />
............................................................................. 1446<br />
H.J. Huang, L. Jiao, and T. Y. Cheung<br />
A Novel Siphon-Based Deadlock Control Method for FMS ............... ..................................... 1452<br />
ZhiWu Li and MengChu Zhou<br />
(TuE7: Control Applications (I)<br />
Globally Adaptive Decentralized Control of Time-Varying Robot Manipulators .... ........ 1458<br />
Su-Hau Hsu and Li-Chen Fu<br />
Kinematic Control of a Platoon of Autonomous Vehicles ............<br />
............. .. 1464<br />
Gianluca Antonelli and Stefan0 Chiaverini<br />
Dynamic Modeling and Input Shaping of Thermal Bimorph MEMS Actuators ............................ 1470<br />
Dan 0. Popa, Byoung Hun Kung, John T. Wen, Harry E. Stephanou, George Skidmore, and<br />
Aaron Geisberger<br />
A Switching Control Strategy for Nonlinear Dynamic Systems ................................................... 1476<br />
Mingjun Zhang and Tzyh-Jong Torn<br />
Control of Biomimetic Locomotion via Averaging Theory<br />
Patricio A. Vela and Joel W Burdick<br />
ITuE8: Human Robot Interaction (11)<br />
1482<br />
A Method for Preventing Accidents due to Human Action Slip Utilizing HMM-Based<br />
Dempster-Shafer Theory .......................................................................................................... 1490<br />
Yoji Yarnada, Tetsuyu Morizono, Yoji Umetani, and Yukitaka Sonohara<br />
EMG Classification for Prehensile Postures Using Cascaded Architecture of Neural<br />
Neborks with Self-organizing Maps ..... .................................... .............. 1497<br />
Han-Pang Huang, Yi-Hung Liu, Li- Wei Liu, and Chun-Shin Wong<br />
Narrative Situation Assessment for Human-Robot Interaction 1503<br />
Bjorn Jensen, Roland Philippsen, and Roland Siegwart<br />
Configuring Sensors by User Learning for a Locomotion Aid Interface ...................................... 1509<br />
R. Thief/, E. Monacelli, P. Henafl andS. Delaplace<br />
Face Direction-Based Human-Computer Interface Using Image Observation and EMG<br />
Signal for the Disabled ..................................................................................... ~ 1515<br />
Inhyuk Moon, Kyunghoon Kim, Jeicheong Ryu. and Museong Mun<br />
I<br />
[TuEI 3: Sensor Application<br />
Information-Theoretic Coordinated Control of Multiple Sensor Platforms ................................... 1521<br />
Ben Grocholshy, Alexei A4aakorenko. and Hugh Durrant- Whyte<br />
High-Precision Task-Space Sensing and Guidance for Autonomous Robotic Localization ....... 1527<br />
Goldie Nejat and Beno Benhabib<br />
xxii
Geometry Design of an Elastic Finger-Shaped Sensor for Estimating Friction Coefficient by<br />
Pressing an Object .... 1533<br />
Takashi Maeno and Tomoyuki Kawamura<br />
Recognizing Surface Properties Using Impedance Perception ................................................... 1539<br />
Ryo Kikuuwe and Tsuneo Yoshikawu<br />
Vision and Tactile Sensing for Real World Tasks .....<br />
1545<br />
D. Kragic, S. Crinier, D. Brunn, and H I. Christensen<br />
IWAI: Map Building<br />
Automatic Map Acquisition for Navigation in Domestic Environments<br />
Philipp Althaus and Henrik I. Christensen<br />
Map Building with Mobile Robots in Dynamic Environments ....................................................... 1557<br />
Dirk Hahnel. Rudolph Triebel, Wolfam Bnrgard, and Sebastian Thrun<br />
An Evaluation of Sequential Monte Carlo Technique for Simultaneous Localisation<br />
and Map-Building ...................................................................................................................... 1564<br />
David C. K. Yum and Bruce A. MacDonald<br />
Image-Based Localization with Depth-Enhanced Image Map<br />
1570<br />
Dana Cobzas. Hong Zhang, and Martin Jagersand<br />
Temporal Landmark Validation in CML ........................................................................................ 1576<br />
Juan <strong>And</strong>rade-Cetto and Alberto Sanfeliu<br />
iWA2: Mobile Robot Design and Localization<br />
TopBot: Automated Network Topology Detection with a Mobile Robot ....................................... 1582<br />
Paul Blaer and Peter K. Allen<br />
A New Localization System for Autonomous Robots ......................<br />
Sergio Hernrindez, Carlos A. Morales, Jesh M. Torres, and Leopoldo Acosta<br />
Probabilistic Models of Dead-Reckoning Error in Nonholonomic Mobile Robots<br />
Yu Zhou and Gregoy S. Chirikjion<br />
MICAbot: A Robotic Platform for Large-scale Distributed <strong>Robotics</strong> .........<br />
M. Brett McMickell, Bill Goodwine, and Luis Antonio Montestruque<br />
Accurate Relative Localization Using Odometry ............................<br />
Nakju Doh, Howie Choset, and Wan Kyun Chung<br />
iWA3: Humanoid <strong>Robotics</strong> Software Platform: OpenHRP<br />
1551<br />
I 588<br />
1594<br />
1600<br />
1606<br />
Whole Body Teleoperation of a Humanoid Robot-A Method of Integrating Operator's<br />
Intention and Robot's Autonomy .............................................................................................. 1613<br />
Neo Ee Sian, Kozuhito Yokoi, Shuuji Ka;ita, Fumio Kanehiro, and Kazuo Tunie<br />
Biped Walking Pattern Generation by Using Preview Control of Zero-Moment Point ................. 1620<br />
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Hurada, Kazuhito Yokoi, and<br />
Hirohisa Hirukawa<br />
Pushing Manipulation by Humanoid Considering Two-Kinds of ZMPs<br />
Kensuke Harada, Shuuji Kujita, Kenji Kaneko, and Hirohisa H iruha<br />
1627<br />
xxiii
The First Humanoid Robot that Has the Same Size as a Human and that Can<br />
Lie down and Get up ................................................................................................................. 1633<br />
Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Shuuji Kajifa, Kazuhito Yokoi,<br />
Hirohisa Hirukawa, Kazuhiko Aakchi, and Takakatsu Isozumi<br />
Experimental Evaluation of the Dynamic Simulation of Biped Walking of Humanoid Robots-.... 1640<br />
Hirohisa Hirukawa, Fumio Kanehiro, Shuuji Kajita, Kiyoshi Fujiwara, Kazuhifo Yokoi, Kenji Kaneko, and<br />
Kensuke Harada<br />
[WA4: Network <strong>Robotics</strong><br />
Tele-Coordinated Control of Multi-Robot Systems via the Internet .... .................................. 1646<br />
Imad Elhaj, NingXi, Amit Goradia, Chow Man Kif, Yun Hui Liu, and Toshio Fukuda<br />
Connectivity-through-Time Protocols for Dynamic Wireless Networks to Support Mobile<br />
.......... .......<br />
Robot Teams ..... .... 1653<br />
Nageswara S. V. Rao, Qishi Wu, S. Sithararno Iyengar, and Arul Manickam<br />
Control and Data Transmission for Internet Robots .................................................................... 1659<br />
Peter Xiaoping Liu, Mm Q-H Meng, Jason Gu, Simon X Yang, and Chao Hu<br />
A Scalable Approach to Human-Robot Interaction ...............<br />
Ashley D. Tews, Maja J Matarif, and Gaurav S. Sukhatme<br />
A Service-Based Network Architecture for Wearable Robots<br />
Ka Keung Lee, Ping Zhang, and Yangsheng Xu<br />
/WA5: Stereo Vision and Visual Tracking 1<br />
A Real-Time Robust Eye Tracking System for Autostereoscopic Displays Using<br />
Stereo Cameras ........................................................................................................................ 1677<br />
1665<br />
1671<br />
Chan-Hung Su, Yong-Sheng Chen, Yi-Ping Hung, Chu-Song Chen. and Jiun-Hung Chen<br />
Real-Time Object Tracking Using Multi-Resolution Critical Points Filters<br />
1682<br />
MrBme Durand and Seth Hutchinson<br />
Correspondence-Free Stereo Vision for the Case of Arbitrarily-Positioned Cameras ................ 1688<br />
Ding Yuan and Ronald Chung<br />
High Resolution Catadioptric Omni-Directional Stereo Sensor for Robot Vision ........................ 1694<br />
Shih-Schon Lin and Ruzena Bajcsy<br />
A Voting Stereo Matching Method for Real-Time Obstacle Detection .....<br />
1700<br />
Mohamed Harifi. Yassine Ruichek and Abderrafiaa Koukam<br />
lWA6: Manufacturing - Systems Architecture and Design -.(I) 1<br />
Distributing 3D Manufacturing Simulations to Realize the Digital Plant<br />
1705<br />
E. Freund and D.H. Pendy<br />
Flexible Material Handling System Using Smart-Carriers and Powerline Communication ......... 1711<br />
Eric Wade and H. Harry Asada<br />
The Development of Distributed Web-Based Rapid Prototyping Manufacturing System ........... 1717<br />
Ren C. Luo and Jyh Hwa Tzou<br />
Development of a Generic Tester for Distributed Object-Oriented Systems<br />
1723<br />
Fan-Tien Cheng, Chin-Hui Wang, and Yu-Chuan Su<br />
xxiv
Development of a STEP-Based Collaborative Product and Process Development System<br />
for Manufacturability Evaluation with Reverse Engineering ..................................................... 1731<br />
Rang Shean Lee and Jo Peng Tsai<br />
/WA7: Supply Chain Design, Analysis and Optimization 1<br />
Design of Six Sigma Supply Chains ............................................................................................ 1737<br />
Dinesh Garg, Y Narohari, andN. Yiswanadham<br />
Supply Chain Planning with Order/Setup Costs and Capacity Constraints:<br />
A New Lagrangian Relaxation Approach ................................................................................. 1743<br />
Haoxun Chen and Chengbin Chu<br />
Supply Chain Performance Evaluation: A Simulation Study<br />
Yan Tu, Peter B. Luh, Weidong Feng, and Katsumi Narimatsu<br />
1749<br />
An Optimization-Based Approach for Distributed Project Scheduling ......................................... 1756<br />
Ming Ni, Peter B. Luh. and Byan Maser<br />
Robust Supply Chain Design: A Strategic Approach for Exception Handling ............................. 1762<br />
Roshan Gaonknr and N. Viswanadham<br />
lWA8: Robotic Surgery -<br />
A Wireless Temperature Measurement Guide Rod for Internal Bone Fixation Surgery ............. 1768<br />
Raymond H. W Lam, Wen J. Li, and Ning Xi<br />
Robotic Needle Insertion: Effects of Friction and Needle Geometry ........................................... 1774<br />
M.D. O'Leay, C. Rmone. T Washio, K. Yoshinah, andA.M. Okamura<br />
Design of All-Accelerometer Inertial Measurement Unit for Tremor Sensing in Hand-Held<br />
Microsurgical Instrument .......................................................................................................... 1781<br />
Wei Tech Ang, Pradeep K. Khosla, and Cameron N. Riviere<br />
Force Control and Breakthrough Detection of a Bone Drilling System<br />
Wen-Yo Lee and Ching-Long Shih<br />
I 787<br />
Needle Insertion and Radioactive Seed Implantation in Human Tissues:<br />
Simulation and Sensitivity Analysis .......................................................................................... 1793<br />
Ron Alterovitz. Ken Goldberg, Jean Pouliot, Richard Taschereau, and I-Chow Hsu<br />
/WAS: Grasping and Manipulation (I)<br />
A New Algorithm for Three-Finger Force-Closure Grasp of Polygonal Objects<br />
Jio- Wei Li, Ming-He Jin, and Hong Liu<br />
1800<br />
Estimating Finger Contact Location and Object Pose from Contact Measurements<br />
in 3-D Grasping ......................................................................................................................... 1805<br />
S. Haidacher and G. Hirringer<br />
Simplified Generation Algorithm of Regrasping Motion-Performance Comparison of<br />
<strong>On</strong>line-Searching Approach with EP-Based Approach ........................................<br />
Yosuhisa Hasegawa, Masaki Higashiura, and Toshio Fuhda<br />
..... 1811<br />
A Polyhedral Bound on the Indeterminate Contact Forces in 2D<br />
Arrangements ...... ................................ 1817<br />
Non Rimon, Joel W. Burdick and Tom Omata<br />
xxv
Automatic Grasp planning Using Shape Primitives ..................................................................... 1824<br />
<strong>And</strong>rew T. Miller, Steffeen Knoop, Henrik I. Christensen, ond Peter K. Allen<br />
LWAIO: Micro <strong>Robotics</strong> (11) 1<br />
Polymer-Based New Type of Micropump for Bio-Medical Application 1830<br />
Shluiang Guo and Kinji Asaka<br />
A High Force Miniature Gripper Fabricated via Shape Deposition Manufacturing ...................... 1836<br />
Cesare Stefanini, Mark R. Cutkosb, and Paolo Dario<br />
Microrobotics Using Composite Materials: The Micromechanical Flying Insect Thorax .......<br />
R.J. Wood, S. Avadhanula. M. Menon, and R.S. Fearing<br />
Torque Sensing of Finger Joint Using Strain-Deformation Expansion Mechanism .................... 1850<br />
Yong Yu, Takashi Ishitsuka and Showrow Tsujio<br />
Digital Polymer Motor for Robotic Applications.-.- ..... ...... 1857<br />
H. R. Choi, K.M. Jung, J. W Kwak S. W. Lee, H.M. Kim, J. W Jeon, and J D. Nam<br />
[WAII: Parallel Robot (111)<br />
ldentifiablity of Geometric Parameters of 6-DOF PKM Systems Using a Minimum Set<br />
of Pose Error Data .................................................................................................................... 1863<br />
Tian Huang, Jinsong Wang, Derek G. Chehvynd, and DavidJ Whitehouse<br />
Optimal Design of Parallel Manipulators via LMI Approach<br />
1869<br />
Y.J. Lou, G.F. Liu, and Z.X Li<br />
14: A New Parallel Mechanism for Scars Motions ........................................................................ 1875<br />
Sibastien Krut, Olivier Company, Michel Benoir, Hiromichi Ora, and Franqois Pierror<br />
Singular Loci Analysis of 3W-Stewart Manipulator by Singularity-Equivalent Mechanism .......... 1881<br />
Yanwen Li, Zhen Huang, and Longhui Chen<br />
Mobility Analysis of a 3-5R Parallel Mechanism Family<br />
Qinchuan Li and Zhen Huang<br />
[WAIZ: Computational Intelligence (111)<br />
1887<br />
An Iterative Framework for Projection-Based Image Sequence Registration ............................. 1893<br />
Joaquin Salas<br />
An Atlas Framework for Scalable Mapping .................................................................................. 1899<br />
Michael Bosse, Paul Newman. John Leonard, Martin Soika, Wendelin Feiten, and Seth Teller<br />
Probabilistic Cooperative Localization and Mapping in Practice ................................................. 1907<br />
Ioonnis Rekleitis, Gwgoq Dudek and Evangelos Milios<br />
Local Exploration: <strong>On</strong>line Algorithms and a Probabilistic Framework ......................................... 1913<br />
Volkan Mer, Sampath Kannan, and Kostas Daniilidis<br />
Pure Range-only Sub-Sea SLAM<br />
P. Newman and J Leonard<br />
iWA13: Human Robot Interaction (Ill)<br />
Dimensionality Reduction and Reproduction with Hierarchical NLPCA Neural Networks<br />
1921<br />
xxvi
-Extracting Common Space of Multiple Humanoid Motion Patterns<br />
Koji Tafani and Yoshihiko Nakamura<br />
1927<br />
Switching Control of PositionITorque Control for Human-Robot Cooperative Task<br />
-Human.Robot Cooperative Carrying and Peg-in-Hole Task ................................................ 1933<br />
Toru Tsnmugiwa, Atsushi Sakamoto, Ryuichi Yokogawa, and Kei Hara<br />
Behavior Developing Environment for the Large-DOF Muscle-Driven Humanoid Equipped<br />
with Numerous Sensors ........................................................................................................... 1940<br />
lkuo Mizuuchi, Tomoaki Yoshikai, Doisuke Safo, Shigenori Yoshida, Masayuki Inaba, and Hirochika Inoue<br />
Wearable-Based Evaluation of Human-Robot Interactions in Robot Path-Planning ................... 1946<br />
Ritsu Shikata, Takayuki Goto, Hiroshi Noborio, and Hiroshi lshiguro<br />
Spatial Motion Constraints: Theory and Demonstrations for Robot Guidance Using Virtual<br />
Fixtures ..................................................................................................................................... 1954<br />
Panadda Marayong, Ming Li, Allison M. Okamura, and Gregoy D. Hager<br />
[WA14: Sensorocaliration and Mapping ____<br />
Marc0 polo Localization ............................................................................................................... 1960<br />
Eric BeowulfMartinson and Frank Dellaert<br />
Constrained Initialization for Bearing-only SLAM<br />
Tim Bailey<br />
Sound Localization Based on Mask Diffraction<br />
S.S. Ge, A.P. Loh, and F. Guan<br />
1966<br />
1972<br />
Outdoor Navigation of a Mobile Robot between Buildings Based on DGPS and Odometry<br />
Data Fusion ............................................................................................................................... 1978<br />
Kazunori Ohno, Takashi Tsubouchi. Bunji Shigemarsu, Shoichi Maeyama, and Shin'ichi Yuta<br />
Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM ..... 1985<br />
Michael Montemerlo and Sebastian Thrun<br />
[WMI: Mobile Robot Navigation (Ill)<br />
A Navigation Framework for Multiple Mobile Robots and Its Application at the Expo.02<br />
Exhibition .................................................................................................................................. 1992<br />
Kai 0. Arras, Roland Philippsen, Nicola Tomatis, Marc De Battista, Martin Schilt, and Roland Siegwart<br />
Adapting Navigation Strategies Using Motions Patterns of People ......................... 2000<br />
Maren Bennewilz, Wolfram Burgard, andSebasiian Thrun<br />
Navigation of Cleaning Robots Using Triangular-Cell Map for Complete Coverage .................. 2006<br />
Joon Seop Oh, Yoon Ho Choi, Jin Bae Park and Yuan F. Zheng<br />
Integrating Terrain Maps into a Reactive Navigation Strategy ....<br />
Ayonna Howard, Barry Werger, and Homayoun SerGi<br />
pNAV: A Minimalist Approach to Navigation<br />
Alessandro Scalzo, Anronio Sgorbissa, and Renato Zaccoria<br />
[WMZ: Control of Quadruped Walking Robot<br />
"""""""""'~"""""""""""' 2012<br />
'2018<br />
A Biologically Inspired Four Legged Walking Robot .................................................................... 2024<br />
S. Peng, C.P. Lam, andG.R. Cole<br />
xxvii
Firm Standing of Legged Mobile Manipulator<br />
Takashi Tagowa. Yasumichi Aiyama, and Hisashi<br />
2031<br />
Adaptive Dynamic Walking of a Quadruped Robot 'Tekken' on Irregular Terrain<br />
Using a Neural System Model ....................................................................<br />
.... 2037<br />
Y. Fukuoka, H. Kimura, Y.Hada, and K. Takase<br />
Adaptive Running of a Quadruped Robot on Irregular Terrain Based on Biological<br />
Concepts ................................................................................................................................... 2043<br />
Z.G. Zhnng, Y, Fukuoka, and H. Kimura<br />
Adaptive Gait for a Quadruped Robot on 3D Path Planning .: ..................................................... 2049<br />
Hiroshi lgarashi and Masayoshi Kakikura<br />
iWM3: Snake-like Robots<br />
Control of Locomotion and Head Configuration of 3D Snake Robot (SMA) ............................... 2055<br />
Masaki Yamakila, Minoru Hashimoto, and Takeshi Yamada<br />
Control of Redundant 3D Snake Robot Based on Kinematic Model .... ..... 2061<br />
Fumitoshi Matsuno and Kentaro Suenaga<br />
Control of a 3-Dimensional Snake-like Robot ..... 2067<br />
Shugen Ma, Yoshihiro Ohmameuda, Kousuke hue, and Bin Li<br />
Analysis of Creeping Locomotion of a Snake Robot on a Slope ..........<br />
Shugen Ma, Naoki Tadokoro, Bin Li, and Kousuke Inoue<br />
2073<br />
Dynamic Control for a Tentacle Manipulator with SMA Actuators ............................................... 2079<br />
Mircea Ivanescu, Nicu Bizdoaca, and Deniela Pana<br />
lWM4: Intelligent Transportation Systems<br />
Locating Nearby Vehicles on Highway at Daytime Based on the Front Vision of a Moving<br />
Car ............................................................................................................................................ 2085<br />
Ming-Yang Chern and Bor-Yeu Shyr<br />
Traffic Monitoring Based on Real-Time Image Tracking<br />
Ching-Po Lin, Jen-Chao Tai, and Kai-Tai Song<br />
Driver Assistance: An Integration of Vehicle Monitoring and Control ....................................<br />
Lars Petersson, Nicholas Apostolofl: and Alexander Zelinsky<br />
2091<br />
Using Bayesian Programming for Multi-Sensor Multi-Target Tracking in Automotive<br />
Applications.. ....................................... ...... 2104<br />
C. Cou6. Th. Fraichard, P. Ressiire, and E.<br />
The Lane Recognition and Vehicle Detection at Night for a Camera-Assisted Car on<br />
............................................................................................... 2110<br />
Ming- Yang Chern and Ping-Cheng Hou<br />
[WMB: 3D Vision (111)<br />
Viewpoint Selection for Object Reconstruction Using only Local Geometric Features ............... 2116<br />
K. Jonnalagadda, R. Lumia. C Starr, and J Wood<br />
Robust Model-Based 3D Object Recognition by Combining Feature Matching with Tracking<br />
.................................................................................................................................................. 2123<br />
Sungho Kim, lnso Kweon, and Incheol Kim<br />
xxviii
Dynamically Reconfigurable Visual Sensing for 3D Perception .................................................. 2129<br />
S.Y Chen and Y.F. Li<br />
Simultaneous Shape and Motion Recovery: Geometry, Optimal Estimation, and Coordinate<br />
Descent Algorithms....- .... .... .....<br />
2135<br />
Joonhyuk Choi, F.C. Park and Munsang Kim<br />
Vision-Based 2.5D Terrain Modeling for Humanoid Locomotion ................................................. 2141<br />
Satoshi Kagami. Koichi Nishiwaki. James J. Kuffner, Kei Okada, Masayuki Inaba, and Hirochika hue<br />
iWM6: Manufacturing Systems Architecture and Design (11)<br />
i-Fork: A Flexible AGV System Using Topological and Grid Maps .............................................. 2147<br />
H. Martinez Rurberd, J.P. Canovas Quirionero, M. Zamoro lzquierdo. and A. Gomez Skormeta<br />
Functional Model Based Object-Oriented Development Framework for Mechatronic<br />
Systems ..... ..... ..... ..... ...... ....... ......<br />
... 2153<br />
Minglun Zhang, William Fisher, Peter Webb, and Tzaileyh-Jong Tarn<br />
Avoiding Unsafe States in Manufacturing Systems Based on Polynomial Digraph<br />
Algorithms ................................................................................................................................. 2159<br />
Yin Wang and Zhiming Wu<br />
The Application and Verification of Banker's Algorithm for Deadlock Avoidance in Flexible<br />
Manufacturing System with SPIN 2165<br />
Gang Xu and Zhiming Wu<br />
New Finishing System for Metalic Molds Using a Hybrid MotionlForce Control<br />
Fusaomi Nagafa, Keigo Watanabe, Yukihiro Kusumoto, Kunihiro Tsuda, Kiminori Yasuda.<br />
Kazuhiko Yokoyama, and Naoki Mori<br />
IWM7: Control Applications (11)<br />
2171<br />
Zero Power Control of 0.5KWh Class Flywheel System Using Magnetic Bearing with<br />
Gyroscopic Effect ...................................................................................................................... 2176<br />
Ya-Chong Zhang, Guo-Ji Sun and Ya-Jun Zhang<br />
Control Design for the Rotation of Crane Loads for Boom Cranes<br />
0. Sawodny) A. Hildebrandt, and K. Schneider<br />
2182<br />
Application of Artificial Pneumatic Rubber Muscles to a Human Friendly Robot ........................ 2188<br />
Toshiro Noritsup, Daisuke Sasaki, and Masahiro Takaiwa<br />
Autonomous Control of a Horizontally Configured Undulatory Flap Propelled Vehicle .............. 2194<br />
Stephen Hsu. Chris Maileailey, Ethan Eade, and Jason Janet<br />
Motion Planning of Aerial Robot Using Rapidly-Exploring Random Trees with<br />
Dynamic Constraints ...... ....... ....... ......<br />
.' 2200<br />
Jonpoo Kim and James P. Ostrowski<br />
rWM8: Rehabilitation <strong>Robotics</strong> (I)<br />
Exoskeleton for Human Upper-Limb Motion Suppofl ...... ..........................................<br />
Kazuo Kiguchi, Takakam Tanaka, Keigo Watanabe, and Toshio Fukuda<br />
2206<br />
Functional Assessment of Hand Orthopedic Disorders Using a Sensorised Glove:<br />
Preliminary Results.. .............................................................................................. 2212<br />
xxix
Silvesrro Micero, Ertore Cuvullaro, Rossella Belli, Franco Zaccone, Eugenio Cuglielmelli, Puolo Dario<br />
Diego Collurini, Bruno Marfinelli, Chiara Santin, and Renzo Murcovich<br />
Modelling ofthe Human Paralysed Lower Limb under FES ........................................................ 2218<br />
David Guiruud, Philippe Poignet, Pierre-Brice Wieber, Hassan El Makksoud, Franqois Pierrot.<br />
Bernard Brogliufo, Philippe Fruisse, Etienne Dombre, Jean-Louis Divoux, and Pierre Rubischong<br />
Maneuvering a Bed Sheet for Repositioning a Bedridden Patient .............................................. 2224<br />
Binuyuk Roy, Arin Basmujian, and H. Hurry Asadu<br />
Experimental Analysis of an Innovative Prosthetic Hand with Proprioceptive Sensors .............. 2230<br />
M.C. Carrozza, F. Vecchi, F. Sebastiuni, G. Cappiello, S. Roccellu, M. Zeccu, R. Lozzarini. and P. Durio<br />
IWM9: Grasping - and Manipulation (11)<br />
Force Passivity in Fixturing and Grasping<br />
Michael Yu Wang und Yun-Hui Liu<br />
Capturing a Convex Object with Three Discs .................<br />
Jeff Erickon, Shripad Thite, Fred Rofhganger, and Jean Ponce<br />
2236<br />
2242<br />
Application of "Generalized Attractive Region" in Orienting 3D Polyhedral Part ......................... 2248<br />
Hang Qiao<br />
Complementarity Formulation for Multi-Fingered Hand Manipulation with Rolling and<br />
Sliding Contacts ........................................................................................................................ 2255<br />
Masahito Yashima and Hideya Yamaguchi<br />
Implementation of Multi-Rigid-Body Dynamics within a Robotic Grasping Simulator ................. 2262<br />
<strong>And</strong>rew T. Miller and Henrik I. Chrisrensen<br />
IWMIO: Multiple Robots Coordination<br />
Cooperative Exploration of Mobile Robots Using Reaction-Diffusion Equation on<br />
a Graph ..................................................................................................................................... 2269<br />
Chomchnna Trevui, Yusuke Fukazawa, Jun Ora, Hide0 Yuasu, Tumio Arai, and Hojime Asama<br />
A Strategy and a Fast Testing Algorithm for Object Caging by Multiple Cooperative Robots .... 2275<br />
ZhiDong Wang, Vijay Kumar, Yusuhisu Hirata, and Kozuhiro Kosuge<br />
Multi-Robot Team Response to a Multi-Robot Opponent Team<br />
Jumes Bruce, Michael Bowling, Brert Browning. and Manuela Yeloso<br />
A Behaviour-Based Manipulator for Multi-Robot Transport Tasks<br />
Anronios K. Bouloubusis, Gerard TMcKee, and Puul S. Schenker<br />
2281<br />
,2207<br />
I<br />
LWM11: Reconfigurable Robot and Special Robot 1<br />
Inverse Dynamics of Gel Robots Made of Electro-Active Polymer Gel .............<br />
,2299<br />
Mihoko Or& Yoshihuru Kagami, Yusuo Kuniyoshi, Masayuki Inuba, and Hirochika lnoue<br />
Simple Self-Transfer Aid Robotic System .................................................... ................................ 2305<br />
Yoshihiko Takahashi, Go Monube, Kutsumi Takahashi, and Tukuro Hutukeyama<br />
Highly Compliant and Self-Tightening Docking Modules for Precise and<br />
XXX
Fast Connection of Self-Reconfigurable Robots ....... ......<br />
..... 2311<br />
Behrokh Khoshnevis, Peter Will, and Wei-Min Shen<br />
Adaptability of Reconfigurable Robotic Systems ......................................................................... 2317<br />
Z.M. Bi, W.A. Gruver. and WJ. Zhang<br />
Design of a New Exoskeletal Mechanism for a Shoulder Joint of Wearable Robots:<br />
The Wearable HEm Mechanism ........<br />
2323<br />
Telsuya Morizono, Yoji Yamada. Yoji timelani, Tukahisa Yamamolo, Tetsuji Yoshida, and Shigerii Aoki<br />
lWM12: Mathematical Optimization<br />
GA-Based Robust H1 Controller Design Approach for Active Suspension Systems .................. 2330<br />
Chein-Chung Sun. Hum-Yuan Chung, and Wen-Jer Chang<br />
Stability on a Manifold: Simultaneous Realization of Grasp and Orientation Control of an<br />
Object by a pair of Robot Fingers ............................................................................................ 2336<br />
S. Arimofo, J:H. Bae, and K. Tahara<br />
Intrinsic Localization and Mapping with 2 Applications: Diffusion Mapping and Marco Polo<br />
Localization .. ..... ..... .... ...... ..... 2344<br />
Frank Dellaert, Fernando Alegre, and Eric BeowulfMartinson<br />
Slack Variable Method for State Variable Constraint ................................................................... 2350<br />
Taukeuchi Hiroki<br />
Vector Quantization for State-Action Map Compression ............................................................. 2356<br />
Ryuichi tieda. Takeshi Fukase. Yuichi Kobayashi, and Tamio Ami<br />
iWM13: Human Robot Interaction (IV) 1<br />
Interaction among Human, Machine and Patient with Work State Transition<br />
Takeshi Koyama, Takayuki Tanaka, Kazuo Tanaka, and Maria Q. Feng<br />
2362<br />
Enabling Real-Time Full-Body Imitation: A Natural Way of Transferring Human Movement<br />
to Humanoids ............................................................................................................................ 2368<br />
Marcia Riley, Ales Ude, Keegan Wade, and Christopher G. Arkeson<br />
Visual Transformations in Gesture Imitation: What You See is What You Do ............................ 2375<br />
Manuel Cabido-Lopes and Jose! Santos-Victor<br />
Affect-Sensitive Human-Robot Cooperation: Theory and Experiments<br />
2382<br />
Prumila Rani, Nilanjun Sarkar, and Craig A. Smith<br />
Multi-Robot Human-lnteration and Visitor Flow Management ..................................................... 2388<br />
B. Jemen, G. Froidevaw, X Greppin, A. Lorotte, L. Ma,vor, M. Meisser. G. Ramel, and R. Siegwart<br />
iWM14: Sensor-Based <strong>Robotics</strong> (I)<br />
A Multiagent Multisensor Based Real-Time Sensory Control System for Intelligent Security<br />
Robot ........................................................................................................................................ 2394<br />
Ren C. Luo and Kuo L. Su<br />
Robotic Catching Using a Direct Mapping from Visual Information to Motor Command ............ 2400<br />
Akio Namiki and Masatoshi Ishikawa<br />
Computing C-Space Entropy for View Planning with a Generic Range Sensor Model ............... 2406<br />
Pengpeng Wang and Kamal Gupta<br />
xxxi
Towards a Haptic Black Box for Free-Hand Softness and Shape Discrimination ....................... 2412<br />
ENO Pasquale Scilingo, Nicola Sgambelluri, Danilo De Rossi, and Antonio Ricchi<br />
Development of a Smart Robotic Gripper for Shape and Vibration Control of Flexible<br />
payloads: Theory and Experiments ......................................................................................... 2418<br />
Edward J. Park Gary Li, and James K. Mills<br />
IWPl: Mobile Robot Path Planning<br />
Extracting Optimal Paths from Roadmaps for Motion Planning<br />
Jinsuck Kim, Roger A. Pearce, and Nancy M. Amato<br />
2424<br />
Towards Motion Autonomy of a Bi-Steerable Car: Experimental Issues from Map-Building<br />
to Trajectory Execution ............................................................................................................. 2430<br />
J. Hermosillo, C. Pradalier, S. Sekhavat, C, Laugier, and G. Raille<br />
Simplified Navigation and Traverse Planning for a Long-Range Planetary Rover ...................... 2436<br />
David P. Miller, Li Tan, and Scott Swindell<br />
An Adaptive Motion Prediction Model for Trajectory Planner Systems<br />
A. Elnagar andA.M. Hussein<br />
,2442<br />
Region Exploration Path Planning for a Mobile Robot Expressing Working Environment by<br />
Grid points ................................................................................................................................ 2448<br />
Yusuke Fukazawa, Trevai Chomchana. Jun Ola, Hideo Yuasa, Tamio Arai, and Hajime Asama<br />
[WPZ: Control of Biped Robot (IV)<br />
Trajectory Planning for Smooth Transition of a Biped Robot ...................................................... 2455<br />
Zhe Tang, Changjiu Zhou, and Znqi Sun<br />
Motion Control of Biped Robots Using a Single-Chip Drive<br />
Sung-Nam Oh, Kab-I1 Kim, and Seungchul Lim<br />
246 1<br />
Development of Dinosaur-like Robot TITRUS-The Efficacy of the Neck and Tail of<br />
Miniature Dinosaur-like Robot TITRUS-III ................................................................................ 2466<br />
Kensuke Takita, Toshio Katayama, and Shigeo Hirose<br />
Cooperation of Dynamic Patterns and Sensory Reflex for Humanoid Walking<br />
Guong Wang, Qiang Huang, Juhong Geng, Hongbin Deng, and Kejie Li<br />
2472<br />
Analysis of Dynamics of Passive Walking from Storage Energy and Supply Rate ..................... 2478<br />
Akihito Sano, Yoshito lkemata, and Hideo Fujimoto<br />
/WP3: Coooerative Control of Multi-Vehicle Svstems 1<br />
Vehicle Motion Planning Using Stream Functions<br />
2484<br />
Stephen Waydo and Richard M. Murray<br />
Obstacle Avoidance in Formation ................................................................................................ 2492<br />
Petter ogren and Naomi Ehrich Leonard<br />
Abstraction and Control for Groups of Fully-Actuated Planar Robots<br />
Calin Relta and Vijay Kumar<br />
Cooperative Task Planning of Multi-Robot Systems with Temporal Constraints<br />
Feng-Li Lian and Richard Murray<br />
2498<br />
2504<br />
xxxii
Control of Small Formations Using Shape Coordinates<br />
Fumin Zhang, Michael Goldgeier, and P.S. Krishnaprasad<br />
2510<br />
/WP4: Space Robots<br />
Self-Assembly in Space via Self-Reconfigurable Robots ............................................................ 2516<br />
Wei-Min Shen. Peter Will, and Berok Khoshnevis<br />
Trajectory Control of a Flexible Space Manipulator Utilizing a Macro-Micro Architecture .......... 2522<br />
T. M Yang, Z.Q. Sun, S. K. Tso, and W.L. Xu<br />
Automated Object Capturing with a Two-Arm Flexible Manipulator<br />
2529<br />
Tomohiro Miyabe, Atsushi Konno, and Masaru Uchiyama<br />
Instrument Deployment for Mars Rovers ................................................<br />
2535<br />
L. Pedersen. M. Bualat, C. Kunz, S. Lee, R. Sargent, R. Washington, andA. Wright<br />
Evolution of the NASA/DARPA Robonaut Control System ......................................................... 2543<br />
M.A. DiJiler, R. PIatt Jr.. C.J Culbert, R.O. Ambrose, and WJ. Bluethmann<br />
[WP5: Visual Sensing and Application (11) 1<br />
Real-Time Vision-Based Contour Following with Laser Pointer<br />
Wen-Chang Chang and Mong-Lu Chai<br />
2549<br />
Modeling of Ultrasound Sensor for Pipe Inspection.... .....<br />
2555<br />
Francisco Gomez, Kaspar Althoefer, and Lakmal D. Seneviratne<br />
Experiments Using a Laser-Based Transducer and Automated Analysis Techniques<br />
for Pipe Inspection .................................................................................................................... 2561<br />
Olga Duran, Kaspar Althoefer, and Lahmal D. Seneviratne<br />
Real-Time Estimation of Facial Expression Intensity<br />
2567<br />
Ka Keung Lee and Yangsheng Xu<br />
Evaluation of Shadow Range Finder: SRF for Planetary Surface Exploration ............................ 2573<br />
Yasuhoru Kunii and Taeko Gotoh<br />
IWPG: Assembly Systems Design and Planning (I)<br />
Experiments in Fixturing Mechanics ..........<br />
..... ...<br />
2579<br />
Joel W Burdirk, Yongqiang Liang, and Elon Rimon<br />
An Easily Reconfigurable Robotic Assembly System .................................................................. 2586<br />
Yusuke Maeda, Haruka Kikuchi, Hidemitsu Izawa, Hiroki Ogowa, Masao Sugi. and Tamio Arai<br />
Efficient Contact State Graph Generation for Assembly Applications.. ..... 2592<br />
Feng Pan and Joseph M. Schimmels<br />
Active Sensing for the Identification of Geometrical Parameters during Autonomous<br />
Compliant Motion ...................................................................................................................... 2599<br />
Tine Lefebvre, Herman Bruyr~inch, and Joris De Schutter<br />
Haptic Modeling of Contact Formations and Compliant Motion .. 2605<br />
Jing Xiao, Qi Luo, and Song You<br />
xxxiii
lWP7: Control Applications (111)<br />
Sliding Control for Linear Uncertain Systems<br />
C. W. Tao, M.L. Chon, and MY. Wang<br />
,261 1<br />
State Variance Constrained Fuzzy Controller Design for Nonlinear TORA Systems with<br />
....... .......... .......... ............<br />
Minimizing Control Input Energy 2616<br />
Wen-Jer Chang and Sheng-Ming Wu<br />
Robust Spatially Sampled Controller Design for Banding Reduction in Electrophotographic<br />
process ..................................................................................................................................... 2622<br />
Cheng-Lun Chen, George T.C. Chiu, andJan P. AIIebach<br />
Design of a Static Anti-Windup<br />
An LMI Based Approach-... . .... ... 2628<br />
Nobutaka Wada and Masami Saeki<br />
Smart Neuro-Fuuy Based Control of a Rotary Hammer Drill .....................................................<br />
Chr. W Frey, A. Jacubasch, &B. Kuntze, and R. Plietsch<br />
lWP8: Endoluminal Surgery-Microendoscopy - (11)<br />
2634<br />
Micro Hydrodynamic Actuated Multiple Segments Catheter for Safety Minimally Invasive<br />
....................................................................................................... 2640<br />
, Katsuya Suzuki, and Takahiro Yamamoto<br />
A Laparoscopic Robot with Intuitive Interface for Gynecological Laser Laparoscopy 2646<br />
Hsioo- Wei Tang, Hendrik Van Brussel, Dominiek Reynaerts, Jos Vander Sloten, and Philippe R. Koninckt<br />
Design of an Advanced Tool Guiding System for Robotic Surgery .......... ........... .... 2651<br />
Jan Peirs, Dominiek Reynaerts, Hendrik Van Brussel, Gudrun De Gersem, and Hsiao- Wei Tang<br />
A New Active Microendoscope for Exploring the Sub-Arachnoid Space in the Spinal Cord ...... 2657<br />
Luca Ascari, Cesare Stefanini, Arianna Menciassi, Sambir Sahoo. Pierre Rabischong, and Paolo Dario<br />
Development of a Remote Minimally-Invasive Surgical System with Operational '<br />
Environment Transmission Capability ....... ....... ........... ........................ 2663<br />
Mamoru Mitsuishi, Jumpei Arata, Katsuya Tanaka, Manabu Miynmoto, Takurni Yoshidome, Satoru Zwata,<br />
Shin'ichi Warisawa, and Makoto Hashizume<br />
iWP9: Grasping - and Manipulation (111)<br />
Regrasp Planning for a 4-Fingered Hand Manipulating a Polygon<br />
2671<br />
Atfawith Sudsang and Thanathorn Phoka<br />
Extending Fingertip Grasping to Whole Body Grasping .............................................................. '7677<br />
Robert Plan Jr., <strong>And</strong>rew H. Fagg, and Roderic A. Grupen<br />
Convergence Analysis and Experimental Study of Geometric Algorithms for<br />
Real-Time Grasping Force Optimization .................................................................................. 2683<br />
G.F. Liu. JJ. Xu, ondZ.X Li<br />
Randomized Manipulation Planning for a Multi-Fingered Hand by Switching Contact Modes<br />
............. 2689<br />
Masahito Yashima, Yoshikazu Shiina, and Hideya Yamaguchi<br />
A Comparative Study of Geometric Algorithms for Real-Time Grasping Force Optimization..... 2695<br />
G.F. Liu, J.JXu,andZ.X. Li<br />
xxxiv
IWPIO: Multi-Robot Systems (I)<br />
Rules and Control Strategies of Multi-Robot Team Moving in Hierarchical Formation ............... 2701<br />
Tien-Sung Chi0 and Tzyh-Jong Tarn<br />
Multi-Vehicle Pursuit-Evasion: An Agent-Based Framework<br />
Kingsley Fregene, Diane Kennedy, and David Wang<br />
,2707<br />
Efficient Exploration without Localization<br />
,2714<br />
Maxim A. Batalin and Caurav S. SuWlarme<br />
Real Time Multi-UAV Simulator ................................................................................................... 2720<br />
Ali Haydar Gdktogan, Eric Nettleton, Matthew Ridley, and Salah Sukkarieh<br />
Learning to Role-Switch in Multi-Robot Systems ......................................................................... 2727<br />
Eric Martinson and Ronald C. Arkin<br />
[WPII: Redundant Robots<br />
A Miniature Inspection Robot Negotiating Pipes of Widely Varying Diameter ............................ 2735<br />
Koichi Suwmori, Shuichi Wakimoto, and Masanori Takata<br />
Measurement Method for Compliance of Vertical-Multi-Articulated Robot<br />
-Application to 7-DOF Robot PA-10 ....................................................................................... 2741<br />
Tom Tsumugiwa, Ryuichi Yokogawn, and Kei Ham<br />
Obstacle Avoidance of Redundant Manipulators Using a Dual Neural Network<br />
2747<br />
Yunong Zhang and Jun Wang<br />
A New Method for Motion Planning of Redundant Manipulators Using Singular<br />
configurations ........................................................................................................................... 2753<br />
J. Al/onso Pimanes G. and JosPLuir Zapata D.<br />
Motion Analysis of a Kinematically Redundant Seven-DOF Manipulator under the<br />
Singularity-Consistent Method .................................................................................................. 2760<br />
Dragomir N. Nenche and Yuichi Tsumaki<br />
/WP12: Control Architectures 1<br />
The Real-Time Motion Control Core of the Orocos Project ......................................................... 2766<br />
Herman Bruyninckr, Peter Soetens, and Bob Koninckr<br />
An Object-Oriented Controller Architecture for Flexible Parts Feeding Systems ........................ 2772<br />
Greg Causey<br />
A Hierarchical Behavior-Based Approach to Manipulation Tasks ............................................... 2780<br />
Zbigniew Wasik and Alessandro Sajiotti<br />
Embedded FPGA-Based Control of a Multifingered Robotic Hand ............................................. 2786<br />
Giuseppe Cosalino, Fabio Giorgi, Alessio Turerra, and <strong>And</strong>rea Caffaz<br />
Tripodal Schematic Design of the Control Architecture for the Service Robot PSR ................... 2792<br />
Gunhee Kim, Woojin Chung, Munsang Kim. and Chongwon Lee<br />
lWP13: Telerobotics<br />
Virtual Fixture Architectures for Telemanipulation ....................................................................... 2798<br />
Jake J Abbot1 and Allison M. Okamura<br />
xxxv
Robonaut Task Learning through Teleoperation ..............................................<br />
Richard Alan Peters 11, Christina L. Campbell, William J, Bluethrnonn, and Eric Huber<br />
Predictive Display Models for Tele-Manipulation from Uncalibrated Camera-Capture<br />
of Scene Geometry and Appearance<br />
............... ......................................<br />
Keith Yerex, Dana Cobzas, and Martin Jagersand<br />
2806<br />
2812<br />
Kalman Filter Analysis for Quantitative<br />
Teleoperation Systems 2818<br />
M. Cenk Cavu,@lu and Frank Tendick<br />
Workspace Deformation Based Teleoperation for the increase of Movement Precision ............ 2824<br />
A. Casals, L. Murioz, and J Amat<br />
jWP14: Mobile Robot Localization<br />
A Reliable Position Estimation Method of the Service Robot by Map Matching<br />
2830<br />
Dongheui Lee. Woojin Chung, and Munsang Kim<br />
Adaptive Reai-Time Particle Filters for Robot Localization ......................................................... 2836<br />
Cody Kwok Dieter Fox, and Marina Meilci<br />
Efficient Entropy-Based Action Selection for Appearance-Based Robot Localization ................ 2842<br />
J.M. Porta, B. Tenuijn. andB. Krose<br />
Mobile Robot Localization with an Incomplete Map in Non-Stationary Environments ................ 2848<br />
Kanji Tanakn, Tsutomu Hasegawa, Hongbin Zha, Eiji Kondo, and Nobuhiro Okada<br />
Feature-Based Localization Using Scannable Visibility Sectors<br />
Jinsuck Kim, Roger A. Pearce, and Nancy M. Amato<br />
lWE2: Industry Session (I) : Advanced Industrial Robot Systems<br />
2854<br />
The Development of the Advanced Carrier System by IDC (Intelligent Data Career) ............. 2860<br />
.I/. j,inw,/itmCi .Y Kauoiichr unl r Oomrchc<br />
An Autonomous Production System that Coexists Harmoniously with Human<br />
-Development of Autonomous Mobile Robot System ......................................... 2865<br />
l/~/mtu /Irhr<br />
A Fast Collision-Free Path Planning Method for a General Robot Manipulator .................... 2871<br />
.shy#,.-l,,do<br />
The Latest Robot Systems which Reinforce Manufacturing Sector ...............................<br />
S'Iumz
An Auto-TeachlRe-Teach Implementation of Industrial Robots for Bio-Product<br />
Manufacturing Automation,, ...................................................................................................... 2901<br />
WeiMin Tao, Berr Larson, and Clay Kim<br />
LThAl: Motion Planning -(I)<br />
Path Planning Using Learned Constraints and Preferences ....................................................... 2907<br />
Gregory Dudek and Saul Simhon<br />
A Method for Handling Multiple Roadrnaps and Its Use for Complex Manipulation Planning .... 2914<br />
F. Grovor and R. Alami<br />
Incremental Low-Discrepancy Lattice Methods for Motion Planning ........................................... 2920<br />
Stephen R. Lindemann and Steven M. LaValle<br />
<strong>On</strong>line Motion Planning Using Incremental Construction of Medial Axis ..................................... 2928<br />
Ellips Musehian, M. R. Amin-Naseri, and S. Esmaeilzadeh tihadem<br />
<strong>On</strong> Addressing the Run-Cost Variance in Randomized Motion Planners<br />
Pekka lsto, Marrli MZn.ylu, and Juho Tuominen<br />
jThA2: Micro and Pipe Crawler Walking Robot<br />
,2934<br />
A Ciliary Based &Legged Walking Micro Robot Using Cast IPMC Actuators ............................ 2940<br />
Byungkyu Kim, Jaewook Ryu, Younkoo Jeong, Younghun Tak, Byungmok Kim, and Jong-Oh Park<br />
Motion Planning for a Three-Limbed Climbing Robot in Vertical Natural Terrain<br />
Timothy Bred Srephen Rock, and Jean-Claude Latombe<br />
2946<br />
"MORITZ a Pipe Crawler for Tube Junctions<br />
2954<br />
<strong>And</strong>reas Zagler and Fyiedrich PjZ@&<br />
Microfabricated Thermally Actuated Microrobot .......................................................................... 2960<br />
Agnes Bonvilain and Nicolas Chaillet<br />
PCG: A Foothold Selection Algorithm for Spider Robot Locomotion in 2D Tunnels.. ................. 2966<br />
Amir Shapiro and Elon Rimon<br />
iThA3: Humanoid <strong>Robotics</strong> Project of M E T i I<br />
A Plant Maintenance Humanoid Robot System-Navigation System of Autonomous and<br />
Tele-Operation Fusion Control ......................<br />
,2973<br />
Naoto Kawauchi. Shigetoshi Shiotani, Hiroyuki Kahnazawa. Taku Sasaki, and Hiroshi Tsuji<br />
Development of User Interface for Humanoid Service Robot System ........................................ 2979<br />
Takashi h'ish@ama, Hiroshi Hoshino, Kazuya Sawada, Yoshihiko Tokunaga Hirofatsu Shinomi)ia, Mitsunori<br />
Yoneda, lkuo Takeuchi, Yukiko Ichige, Shizuko Hattori, and Atsuo Takaniski<br />
Cooperative Works by a Human and a Humanoid Robot ............................................................ 2985<br />
Kazuhiko Yokoyama, Hiroyuki Handa, Tukakatsu Isozumi, Yutaro Fukase, Kenji tianeko, Fumio Kanehiro,<br />
Yoshihiro Kawai, Fumiaki Tomito, and Hirohisa Hirukawa<br />
Application of Humanoid Robots to Building and Home Management Services ......................... 2992<br />
Naoyuki Sawasaki, Toshiya Nakajima, Afsushi Shiraishi, Shinya Nakamuru, Kiyoshi Wakabayashi, and<br />
Yusuke Sugawara<br />
A Tele-Operated Humanoid Robot Drives a Backhoe ................................................................. 2998<br />
Hitoshi Hasunuma, Katsumi Nakashima, Masomi Kobayashi, Fumisaro A4ijiune. Yoshiraku Yanagihora,<br />
Taka0 Ueno, tiazuhisa Ohya, and Kazuhifo Yokoi<br />
xxxvii
lThA4: Complex Robotic Systems<br />
A Synchronization Approach to the Multual Error Control of a Mobile Manipulator .................... 3005<br />
Dong Sun and Gary Feng<br />
Mode Shape Compensator for Improving Robustness of Manipulator Mounted on Flexible<br />
Base .......................................................................................................................................... 3011<br />
Jun Uedo and Tsuneo Yoshikawa<br />
Landing Control of Acrobat Robot (SMB) Satisfying Various Constraints<br />
Teruyoshi Sadahiro and Masaki Yamakita<br />
3017<br />
Cable-Suspended Planar Parallel Robots with Redundant Cables: Controllers with Positive<br />
Cable Tensions ......................................................................................................................... 3023<br />
So-Ryeok Oh and Sunil K. Agrawal<br />
Optimal Motion Planning of Free-Flying Robots<br />
R. Lampariello, S, Agrawal, and G. Hirzinger<br />
IThAB: Visual Servoing (I)<br />
3029<br />
Positioning Control of the Arm of the Humanoid Robot by Linear Visual Servoing ..................... 3036<br />
Kyota Namba and Noriaki Maru<br />
Sliding PID Uncalibrated Visual Servoing for Finite-Time Tracking of Planar Robots ................ 3042<br />
V. Parra-Vega and J.D. Fierro-Rojas<br />
Adaptive Sliding Mode Uncalibrated Visual Servoing for Finite-Time Tracking of 2D Robot-..... 3048<br />
V. Parra- Vega, JD. Fierro-Rojas, and A. Espinosa-Romero<br />
Visual Servoing Based on Dynamic Vision ............<br />
Alidlhaj, Christophe Collewet, and Franqois Chaumette<br />
3055<br />
An Experimental Study of Hybrid Switched System Approaches to Visual Servoing ................. 3061<br />
Nicholas R. Guns and Seth A. Hufchinson<br />
[ThAG: Assembly - Systems Design and Planning -(11)<br />
Error-Tolerant Execution of Complex Robot Tasks Based on Skill Primitives<br />
Ulrike Thomas, Bernd Finkemeyer, Torsten Kroger, and Friedrich M. Wahl<br />
~<br />
3069<br />
Strategies of Human-Robot Interactions for Automatic Microassembly ...................................... 3076<br />
Antoine Ferreira<br />
Admittance Selection for Planar Force-Guided Assembly for Single-Point Contact<br />
with Friction ............................................................................................................................... 3082<br />
Shuguang Huang and Joseph M. Schimmels<br />
Dynamic Modeling of the Body Inversion for Automated Transfer of Live Birds ......................... 3089<br />
Kok-Meng Lee and Chris Shumway<br />
Sufficient Conditions for Admittance to Ensure Planar Force-Assembly in Multi-Point<br />
Frictionless Contact .................................................................................................................. 3095<br />
Shuguang Huang and Joseph M. Sehimmels<br />
bhA7: Flexible Manipulator Control and Estimation<br />
Decoupling Based Cartesian Impedance Control of Flexible Joint Robots ................................. 31 01<br />
Christian Oft, Alin Albu-Schaffer, <strong>And</strong>was Kugi, and Gerd Hirzinger<br />
I<br />
xxxviii
Design and Simulation or Robust Composite Controllers for Flexible Joint Robots ................... 3108<br />
HD. Taghirad and M.A. Khosravi<br />
Design and Experimental Evaluation of a Single Robust PositionlForce Controller<br />
for a Single Flexible Link (SFL) Manipulator in Collision .......................................................... 3114<br />
Kamyar Ziaei and David WL. Wang<br />
Estimation of the Flexural States of a Macro-Micro Manipulator Using Acceleration Data ......... 3120<br />
K. Parsa, J Angeles, and A. K. Misra<br />
A New Impedance Control Concept for Elastic Joint Robots-A Case of 1 DOF<br />
Robot with Programmable Linear Passive Impedance ............................................................ 3126<br />
R. Ozawa and H. Kobayashi<br />
jThA8: Neuro-<strong>Robotics</strong> (I)<br />
From Visuo-Motor Self Learning to Early Imitation-A Neural Architecture for Humanoid<br />
Learning<br />
........................................................ ..................................................<br />
3132<br />
Yasuo Kuniyoshi. Yasuaki Yoroiu, Masayuki Inaba, and Hirochika lnoue<br />
Learning about Objects through Action-Initial Steps towards Artificial Cognition ..................... 3140<br />
Paul Fitzpatrick Giorgio Metra. Lorenzo Natale, Sajit Rao, and Giulio Sandini<br />
Motor Learning Model Using Reinforcement Learning with Neural Internal Model. .................... 3146<br />
Jun Izawa, Toshiyuki Kondo, and Koji /to<br />
Statistical Analysis and Comparison of Questionnaire Results of Subjective Evaluations of<br />
Seal Robot in Japan and U.K. ............................................................ 3152<br />
Takanori Shibata, Kazuyoshi Wada. and Kazuo Tanie<br />
A Biologically Inspired Homeostatic Motion Controller for Autonomous Mobile Robots ............. 3158<br />
Do-Young Yoon, Sang-Rok Oh, Gwi-Tae Park and Bum Joe You<br />
IThA9: Grasping and Manipulation (IV)<br />
The HlT/DLR Dexterous Hand: Work in Progress ....................................................................... 3164<br />
X. H. Gau, MH. Jin, L. Jiang, Z. W. Xie, P. He, L. Yang, Y. W. Liu, R. Wei, H.G. Cui, H Liu, J. Butterfuss. M.<br />
Grebenstein, N. Seitz and C. Hirzinger<br />
Development of a Soft-Fingertip and Its Modeling Based on Force Distribution<br />
Kwi-Ho Park Byoung-Ho Kim, and Shinichi Hirai<br />
3169<br />
From Nominal to Robust Planning: The Plate-Ball Manipulation System ................................... 3175<br />
Giuseppe Oriolo. Marilena Vendittelli, Alessia Marigo, and Antonio Bicchi<br />
Motion Sensing for Robot Hands Using MlDS .........................................<br />
3181<br />
Alan H. F Lam. RaymondH W Lam, Wen J. Li, Martin Y Y Leung, and Yunhui Liu<br />
Mechatronic Design of Innovative Fingers for Anthropomorphic Robot Hands<br />
L. Biugiotti, F. Lotti, C. Melchiorri, and G. Vussura<br />
IThAlO: Micro <strong>Robotics</strong> (111)<br />
Microassembly of 3-D MEMS Structures Utilizing a MEMS Microgripper with a<br />
Robotic Manipulator .................................................................................................................. 3193<br />
Nikokolai Dechev, William L. Cleghorn, and James K. Mills<br />
3187<br />
xxxix
Micromanipulation Contact Transition Control by Selective Focusing and Microforce<br />
Control ...................................................................................................................................... 3200<br />
Ge Yang and Bradley J. Nelson<br />
Two-Dimensional Signal Transmission Technology for <strong>Robotics</strong><br />
3207<br />
Hiroyuki Shinoda, Naoya Asamura, Miisuhiro Hakozaki, and Xinyu Wang<br />
Micropeg Manipulation with a Compliant Microgripper ................................................................ 3213<br />
Woo Ho Lee, Byoung Hun Kang, Young Seok Oh, HarT Siephanou, Arthur C. Sanderson, George Skidmore,<br />
and Matthew Ellis<br />
Levitated Micro-Nan0 Force Sensor Using Diamagnetic Materials<br />
Mehdi Boukallel, Joel Abadie. and Emmanuel Piat<br />
lThAl1: Robot Design<br />
Design and Modeling of Classes of Spatial Reactionless Manipulators<br />
Abbas Fattah and Sunil K. Agrawal<br />
3219<br />
3225<br />
A Comparison of the Oxford and Manus Intelligent Hand Prostheses ........................................ 3231<br />
P.J. Kyberd and J.L. Pons<br />
Mechatronics Design and Kinematic Modelling of a Singularityless Omni-Directional<br />
Wheeled Mobile Robot ................................................................................... 3237<br />
W.K. Loh, K.H. Low, and Y.P. Leow<br />
Design of a 6DOF Haptic Master for Teleoperation of a Mobile Manipulator ............. 3243<br />
Dongseok Ryu, Changhyn Cho, Munsang Kim, and Joe-Bok Song<br />
A Passive Robot System for Measuring Spacesuit Joint Damping Parameters<br />
3249<br />
H Wang. XH Cao, MH Jin, L.B. Du, J.D. Zhao, H.Y. Hu, H.G. Cui, TQ. Li, andH. Liu<br />
IThA12: Identification and Control<br />
Parameters Identification and Vibration Control for Modular Manipulators ................................. 3254<br />
Yangmin Li, Yugang Liu. Xiaoping Liu, and Zhaoyang Peng<br />
Experimental Identification and Evaluation of Performance of a 2DOF Haptic Display .............. 3260<br />
Antonio Frisoli and Massimo Bergamasco<br />
A Robust Friction Control Scheme of Robot Manipulators ...................<br />
,3266<br />
Jeng-Shi Chen and Jyh-Ching Juang<br />
Identification of the Dynamic Parameters of the Orthoglide<br />
,3272<br />
Sylvain Guegan, Wisama Kahlil, and Philippe Lemoine<br />
Experimental Dynamic Identification of a Fully Parallel Robot .................................................... 3278<br />
<strong>And</strong>rds Vivos, Philippe Poignet, Fridiric Marquet, Franqois Pierroi, and Marime Goutier<br />
lThAl3: Teleoperation<br />
Pattern-Based Arcdhitecture for Building Mobile <strong>Robotics</strong> Remote Laboratoires ....................... 3284<br />
A. Khamis, D.M. Rivera, F. Rodriguez, and M. Salichs<br />
Digital Passive Geometric Telemanipulation ............................................................................... 3290<br />
C. Secchi, S. Siramigioli, and C. Faniuzzi<br />
Impedance Reflecting Rate Mode Teleoperation<br />
F. Mobasser, K. Hashtrudi-Zaad, and S.E. Salcudean<br />
,3296<br />
XI
Laboratory Tools for <strong>Robotics</strong> and Automation Education ...<br />
3303<br />
Claudia Cosma, Mirko Confenle, Debora Botluri, and Paolo Fiorini<br />
Passivity Analysis of Sampled-Data Interactive Systems ............................................................ 3309<br />
Ravi Hebbar and Wyatt S. Newrnan<br />
lThA14: Sensor-Based <strong>Robotics</strong> (11) - J<br />
Uncalibrated Visual Servoing Technique Using Large Residual ....<br />
3315<br />
G. W Kim, B.H Lee, and M.S. Kim<br />
STOMP: A Software Ar<br />
Sensor Networks .....<br />
3321<br />
Erik D. Jones. Rondv S. Roberts, and TC. Steve Hsia<br />
Uncalibrated Robotic 3-D Hand-Eye Coordination Based on the Extended State Observer<br />
Hongyu Ma and Jianbo Su<br />
Robust Visual Tracking Using a Fixed Multi-Camera System<br />
Vincenzo Lippiello, Bruno Siciliano, and Luigi Villani<br />
3333<br />
Development of Piezoelectric Bending Actuators with Embedded Piezoelectric Sensors for<br />
Micromechanical Flapping Mechanisms .................................................................................. 3339<br />
Dornenico Campolo, Ranjana Sahai, and Ronald S. Fearing<br />
IThMl: Motion Planning -- (11)<br />
<strong>On</strong>line Motion Planning Using Laplace Potential Fields .............................................................. 3347<br />
Diego Alvarez, Juan C. Alvarez, and Rafael C. Gonzalez<br />
Potential-Based Path Planning for Robot Manipulators in 3-D Workspace ................................ 3353<br />
Chien-Chou Lin and Jen-Hui Chuang<br />
Dual Dijkstra Search for Paths with Different Topologies<br />
Yusuke Fujita, Yoshihiko Naknmura, and Zvi Shiller<br />
' 3359<br />
A Novel Potential-Based Path Planning of 3-D Articulated Robots with Moving Bases ............. 3365<br />
Chien-Chou Lin. Chi-Chun Pan, and Jen-Hui Chuang<br />
Improved Analysis of D' ............................................................................................................... 3371<br />
Craig Tovey, Sam Greenberg, and Sven Koenig<br />
IThM2: Mobile Robot Control (I) 1<br />
<strong>On</strong> the Nonlinear Controllability of a Quasiholonomic Mobile Robot ........................................... 3379<br />
Alessio Salerno andforge Angeles<br />
Exploiting Redundancy to Implement Multi-Objective Behavior '3385<br />
Yuondong Yang, O/iver Brock and Roderic A. Grupen<br />
Bilateral Time-Scaling for Control of Task Freedoms of a Constrained Nonholonomic<br />
System ...................................................................................................................................... 3391<br />
Siddharrha S. Srinivasa, Michael A. Erdmann, and Matthew T. Mason<br />
Development of a Mobile Robot for Visually Guided Handling of Material<br />
TI. James Tsq, M.S. Hsu, andR.X Lin<br />
3397<br />
Trajectory Planning of Mobile Manipulator with Stability Considerations .................................... 3403<br />
Seiji Furuno, Motoji Yomarnoto, and Akira Mohri<br />
xli
lThM3: Mobile Robot Control (11)<br />
Motion Control for Vehicle with Unknown Operating Properties<br />
-<strong>On</strong>-Line Data Acquisition and Motion Planning ..................<br />
Kazuya Okawa and Shin'ichi Yufa<br />
Remote Control of a Mobile Robot Using Distance-Based Reflective Force<br />
J.B. Park B.H. Lee. and M.S. Kim<br />
Motion Planning for Humanoid Walking in a Layered Environment<br />
Tsai-Yen Li, Pei-Feng Chen. and Pei-Wi Huang<br />
3409<br />
3415<br />
342 1<br />
Enhancing the Reactive Capabilities of Integrated Planning and Control with Cooperative<br />
Extended Kohonen Maps ......................................................................................................... 3428<br />
Kian Hsiang Low, Wee Kheng Leow, and Marcelo H. Ang Jr.<br />
RoboDaemon-A Device Independent, Network-Oriented, Modular Mobile Robot<br />
Controller .................................................................................................................................. 3434<br />
Gregory Dudek and Robert Sim<br />
lThM4: New <strong>Robotics</strong><br />
I<br />
A Vision-Based Haptic Exploration .............................................................................................. 3441<br />
Hiromi T Tanaka, Kiyotaka Kushihama, Naoki Ueda, and Shin'ichi Hirai<br />
Vision Based Shape Estimation for Continuum Robots<br />
Michael Hannan and Ian Walker<br />
Learning Human Control Strategy for Dynamically Stable Robots:<br />
Support Vector Machine Approach .............................................<br />
Yongsheng Ou and Yangsheng Xu<br />
3449<br />
3455<br />
.Perceptual Navigation Strategy: A Unified Approach to Interception of Ground Balls and Fly<br />
Balls .......................................................................................................................................... 3461<br />
Keshav Mundhra, Thomas G. Sugar, and MLchael K. McBeath<br />
Stereo Omnidirectional Vision for a Hopping Robot ......................................<br />
Mirko Confente, Paolo Fiorini, and Giovanni Bianco<br />
3467<br />
IThM5: Visual Tracking<br />
Real-Time Tracking and Pose Estimation for Industrial Objects Using Geometric Features...... 3473<br />
Youngrock Yoon, Guilherme N. DeSouza, and Avinash C. Kak<br />
Trajectory Generation for Constant Velocity Target Motion Estimation Using Monocular<br />
Vision ........................................................................................................................................ 3479<br />
Eric W. Frew and Stephen M. Rock<br />
Confluence of Parameters in Model Based Tracking<br />
D. Kragic and H.1. Christensen<br />
3485<br />
Visual Position Tracking Using Dual Quaternions with Hand-Eye Motion Constraints ............... 3491<br />
Tomas Olsson, Johon Bengtsson, <strong>And</strong>ers Robertsson, and RolfJohansson<br />
Fast 3D Tracking of Non-Rigid Objects<br />
Nobuhiro Ohada and Martial Hebert<br />
3497<br />
xlii
iThM6: Computer Aided Production Planning (I) 1<br />
A General Framework for Automatic CAD-Guided Tool Planning for Surface Manufacturing<br />
..... .... ... ... 3504<br />
Heping Chen, Ning Xi, Weihua Sheng, Y$an Chen, Allen Roche, and Jeffrey Dah1<br />
Conflict-Free Routing of AGVs on the Mesh Topology Based on a Discrete-Time Model......<br />
Jionyang Zeng and Wending Hsu<br />
Development of an Automatic Mold Polishing System ................................................................ 3517<br />
Ming J. Tsai, Jau-Lung Chang. and Jian-Feng Haung<br />
Locating and Checking of a BGA Pin's Position Using Gray Level ........<br />
Chi- CVei Run and Ching-Long Shih<br />
High Efficient Robotic De-Palletizing System for the Non-Flat Ceramic Industry .....<br />
J Norberlo Pires and Sirgin Paulo<br />
lThM7: Enterprise-Level Modeling and Analysis<br />
"""""""""""""'~""' 3523<br />
3529<br />
Multi-Objective Differential Evolution and Its Application to Enterprise Planning... ..................... 3535<br />
Feng Xue, Arthur C. Sanderson, and Roberl J Graves<br />
Task Planning with Transportation Constraints: Approximation Bounds, Implementations<br />
and Experiments ........................................................................ ....... ....... 3542<br />
Ovidiu Daescu, Derek Soeder, and R.N. Lima<br />
Improvement of product Sustainability ........................................................................................ 3548<br />
Meimei Gao, MengChu Zhou, and Fei-Yue Wang<br />
A Data Mining Based Clustering Approach to Group Technology<br />
Mu-Chen Chen, Hsiao-Pin #'U, and Chia-Ping Lin<br />
3554<br />
Modular Petri Net Based Modeling, Analysis and Synthesis of Dedicated Production<br />
systems .................................................................................................................................... 3559<br />
G.J Tsinarakis, X P. Valavanis, and N.C. Tsourveloudis<br />
[ThM8: Neuro-<strong>Robotics</strong> (11)<br />
Robust Modeling of Dynamic Environment Based on Robot Embodiment ................................. 3565<br />
Kuniaki Noda, Mototaka Suzuki, Naofumi Tsuchtja, Yuki Suga, Telsuya Ogata, and Shigeki Sugano<br />
Strategy Acquirement by Survival Robots in Outdoor Environment ............................................ 3571<br />
Piioyo Hurtono, Keishiro Tube, Kenji Swuki, and Shji Hashimozo<br />
A Bio-Inspired Approach for Regulating Visco-Elastic Properties of a Robot Arm.... .................. 3576<br />
L. Zollo, B. Siciliano, E. Guglielmelli. and P. Dario<br />
Realization of Autonomous Search for Sound Blowing Parameters for an<br />
Anthropomorphic Flutist Robot ..................... ....... ..... ..... .... 3582<br />
Shuzo Isoda, Manabu Maeda, Yuji Hiramalsu, Yu Ogura, Hideaki Takanobu, Atsun Takanishi, and<br />
Kunimitsu Wakamatsu<br />
A New Mental Model for Humanoid Robots for Human Friendly Communication<br />
Hiroyasu Miwa, Tefsuya Ohchi, Kazuko Itoh, Hideaki Takanobu, and Afsuo Takanishi<br />
xliii
IThM9: Manipulation 1<br />
Planning Velocities of Free Sliding Objects for Dynamic Manipulation<br />
Qingguo Li and Shahram Payandeh<br />
3594<br />
Experiments in Nonsmooth Control of Distributed Manipulation ................................................. 3600<br />
T D. Murphey, J W Burdick J. Burgess. and A. Homyk<br />
Multi-Agent Cooperative Manipulation with Uncertainty: A Neural Net-Based Game<br />
Theoretic Approach .................................................................................................................. 3607<br />
Qingguo Li and Shahram Payandeh<br />
Cartop Manipulation .................................................<br />
Wesley H. Huang, Kartik Babu, and Jonathan A. Bandlow<br />
3613<br />
Smooth Feedback Control Algorithms for Distributed Manipulators ............................................ 361 9<br />
T.D. Murphey and J W Burdick<br />
IThM10: Nan0 Robots and Manioulations<br />
Nanotube Devices Fabricated in a Nan0 Laboratory .......................<br />
Lixin Dong, Fumihito Ami, Masahiro Nakajima, Pou Liu, and Toshio Fukuda<br />
3624<br />
NanolMicro Technologies for Single Molecule Manipulation and Detection<br />
3630<br />
Tza-Huei Wang and Chih-Ming Ho<br />
Platform Technology for Manipulation of Cells, Proteins and DNA ............................................. 3636<br />
Gwo-Bin Lee and Long-Mig Fu<br />
3-D Nanomanipulation Using Atomic Force Microscopes<br />
3642<br />
Guangvong Li, Ning Xi, Mengmeng Yu, and Wai Keung Fung<br />
Bundled Carbon Nanotubes as Electronic Circuit and Sensing Elements<br />
3648<br />
Victor T.S. Wong and Wen J. Li<br />
I<br />
IThM11: Robot Design and Analysis<br />
Stiffness Analysis of the Humanoid Robot WABIAN-RIV: Modelling<br />
3654<br />
Giuseppe Carbone, Hun-ok Lim, Atsuo Takanishi, and Marc0 Ceccarelli<br />
Auto-Calibration for a Parallel Manipulator with Sensor Redundancy<br />
3660<br />
Y.K. Yiu, J. Meng, and 2.X Li<br />
Optimum Force Balancing with Mass Distribution and a Single Elastic Element for a<br />
Five-Bar Parallel Manipulator ................................................................................................... 3666<br />
Gursel Alici and Byan Shirinzadeh<br />
Kinematics and Dynamics of a Cable-like Hyper-Flexible Manipulator<br />
3672<br />
Hiromi Mochiyama and Takahiro Suzuki<br />
Development of Parallel Manipulator "NINJA with Ultra-High-Acceleration<br />
3678<br />
Kiyoshi Nagai, Masaharu Matsurnoto, Ken'ichiro Kimura, and Ban Masuhara<br />
IThMIZ: Impedance Control<br />
Robotic Force Control Using Observer-Based Strict Positive Real Impedance Control ............. 3686<br />
RolfJohansson and <strong>And</strong>ers Robertsson<br />
I<br />
xliv
....<br />
Impact When Robots Act Wisely ................. ....... ...... 3692<br />
Eunjeong Lee, Juyi Park, Cheryl B. Schrader, and Pyung-Hun Chang<br />
Stiffness Control of a Three-Link Redundant Planar Manipulator Using the Conservative<br />
Congruence Transformation (CCT) .......................................................................................... 3698<br />
Yanmei Li and Imin Kao<br />
Cartesian Impedance Cont<br />
DLR-Light-Weight-Arms ..... .......... 3704<br />
Alin Albu-Schaffer, Chrisrian Otr, Udo Frese, and Gerd Hirzinger<br />
The Passivity of Natural Admittance Control Implementations<br />
Mark Dohring and Wyart Newman<br />
lThMl3: Virtual Reality 1<br />
3710<br />
Interactive Rendering of Deformable Objects Based on a Filling Sphere Modeling<br />
Approach ................................................................................................................................... 3716<br />
FranCois Conri. Oussama Khatib, and Charles Baur<br />
Passivity-Based High-Fidelity Haptic Rendering of Contact ..................<br />
Mohsen Mahvash and Vincenr Hayward<br />
3722<br />
<strong>On</strong> the Calibration of Deformation Model of Rheology Object by a Modified Randomized<br />
Algorithm ................................................................................................................................... 3729<br />
Hiroshi Noborio. Ryo Enoki, Shohei Nishimoto, and Takumi Tanemura<br />
Constructing Rheologically Deformable Virtual Objects ............<br />
Masafumi Kimura. Yuura Sugiyama, Seiji Tomokuni, and Shinichi Hirai<br />
Post-Stabilization for Rigid Body Simulation with Contact and Constraints<br />
Michael B. Cline and Dinah K. Pai<br />
IThM14: Nonholonomic Path Planning<br />
Point-to-point Paths Generation for Wheeled Mobile Robots<br />
Diogo P. F. Pedrosa, Adelardo A. D. Medeiros, and Pablo J. Alsina<br />
3737<br />
3744<br />
3752<br />
Optimization-Based Formation Reconfiguration Planning for Autonomous Vehicles ................. 3758<br />
Shannon Zelinski. T John Koo, and Shankar Sasrry<br />
<strong>On</strong> the Use of Low-Discrepancy Sequences in Non-Holonomic Motion Planning ...................... 3764<br />
Abraham Sdnchez, RenP Zapara, and Claudio Lanzoni<br />
Smooth Path Planning by Using Visibility Graph-like Method ........................<br />
Tomomi Kito, Jun Oia, Rie Karsuki, Takahisa Mizuta, Tamio Arai, Tsuyoshi Ueyama, and<br />
Tsuyoshi Nishiyama<br />
3770<br />
Implementation of Autonomous Fuzzy Garage-Parking Control by an FPGA-Based Car-like<br />
Mobile Robot Using Infrared Sensors ...................................................................................... 3776<br />
Tzu-Hseng S. Li, Shih-Jie Chang, and Yi-Xiang Chen<br />
IThPl: Motion Planning (111)<br />
<strong>On</strong> Energy-Minimizing Paths on Terrains for a Mobile Robot<br />
Zheng Sun and John Rey<br />
,3782<br />
xlv
Optimal Strategies to Track and Capture a Predictable Target ................................................... 3789<br />
AIon Efrat, Hdcror H. Gonzdlez-Barios, Srephen G. Koburov, and Lingeshwarun Palaniappan<br />
planning Multi-Goal Tours for Robot Arms .................................................................................. 3797<br />
Mild Saha, Gildardo Sdnchez-Anre, and Jean-Claude Larombe<br />
Trajectory Generation for Vehicle Moving with Constraints on a Complex Terrain ..................... 3804<br />
Ken-Jui Tsao, Li-Sheng Wang, Po-Ting Kuo, and Fan-Ren Chang<br />
Robot Motion Planning Using Adaptive Random Walks<br />
Stefuno Carpin and Gianluigi Pillonerto<br />
IThP2: Control of Multi-Legged and MultiJoint Robot<br />
3809<br />
FSW (Feasible Solution ofwrench) for Multi-Legged Robots ..................................................... 3815<br />
Taka0 Saida, Yasuyoshi Yokokohji, and Tsuneo Yoshikawa<br />
Intelligent Control of an Experimental Articulated Leg for a Galloping Machine ......................... 3821<br />
Luther R. Palmer, David E. Orin, Duane W. Marhefka, James P. Schmiedeler, and Kennerh .I Waldron<br />
Implementing Configuration Dependent Gaits in a Self-Reconfigurable Robot<br />
ti. St0y. W-M. Shen. and P. Will<br />
Controlling a Marionette with Human Motion Capture Data<br />
tiarsu Yamane, Jessica K. Hodgins. and H. Benjamin Brown<br />
3828<br />
3834<br />
Achieving Periodic Leg Trajectories to Evolve a Quadruped Gallop ........................................... 3842<br />
Darren P. Krasny and David E. Orin<br />
I<br />
lThP3: Multi-Mobile Robot System -- (11)<br />
Development of Omni-Directional Vehicle with Step-Climbing Ability ......................................... 3849<br />
Daisuke Chugo. tiuniaki Kawabara, Hayaro Kaetsu, Hajime Asamn, and Taketoshi Mishiria<br />
A Distributed Route Planning Method for Multiple Mobile Robots Using Lagrangian<br />
Decomposition Technique ........................................................................................................ 3855<br />
Talsushi Nishi, Masaku <strong>And</strong>o. Masami Konishi, and Jun Imai<br />
Multi-Robot Task Allocation: Analyzing the Complexity and Optimality of Key Architectures..... 3862<br />
Brian P. Gerkey and Maja J MaruriE<br />
Explicit Communication in Designing Efficient Cooperative Mobile Robotic System .................. 3869<br />
Y.K. Lam, E.K. Wong, and C.K. Loo<br />
A Hybrid-Systems Approach to Potential Field Navigation for a Multi-Robot Team ................... 3875<br />
Jing Ren and Kennerh A. Mclsaoc<br />
ThP4: Robot Programming through Visual Observation and Model-Based<br />
Knowledge<br />
Calculating Possible Local Displacement of Curve Objects Using Improved Screw Theory ...... 3881<br />
Jun Takamaisu, Koichi Ogawara, Hiroshi Kimura, and Kalsushi Ikeuchi<br />
Knot Planning from Observation ...... ................. ......... 3887<br />
Takuma Morita, Jun Takamutsu, Koichi Ogawora. Hiroshi Kimura, and Katsushi lkeuchi<br />
Estimation of Essential Interactions from Multiple Demonstrations<br />
Koichi Ogawara, Jun Takamatsu, Hiroshi Kimura, and Karsushi Ikeuchi<br />
3893<br />
xlvi
Synthesize Stylistic Human Motion from Examples ..................................................................... 3899<br />
Atsushi Nakazawa, Shinichiro Nakaoka, and Katsushi lkeuchi<br />
Generating Whole Body Motions for a Biped Humanoid Robot from Captured Human<br />
Dances ...................................................................................................................................... 3905<br />
Shinichiro Nakaoka, Atsushi Nakamwa, Kazuhito Yokoi, Hirohisa Hirukawa, and Katsushi lkeuchi<br />
IThPB: Visual Servoing _(11)<br />
_<br />
Improving Camera Displacement Estimation in Eye-in-Hand Visual Servoing: A Simple<br />
Strategy ........................................................................ ............................................... 3911<br />
Graziano Chesi and Koichi Hashimoto<br />
Optimal Landmark Configuration for Vision-Based Control of Mobile Robots<br />
Darius Burschka, Jeremy Geirnan, and Cregoty Hager<br />
Visual Navigation of an Autonomous Robot Using White Line Recognition ..........................<br />
Huaming Li, Changhai Xu, Qionglin Xiao, and Xinhe Xu<br />
..... 3917<br />
A Switching Control Law for Keeping Features in the Field of View in Eye-in-Hand Visual<br />
Servoing ............................................................................ .................................................. 3929<br />
Graziano Chesi, Koichi Hashimoto, Domenico Prattichizzo, and Antonio Vicino<br />
Visual Registration and Navigation Using Planar Features<br />
Gabriel A.D. Lopes and Daniel E. Koditschek<br />
[ThPG: Computer Aided Production Planning (11) 1<br />
__<br />
A Computer-Aided Probing Strategy for Workpiece Localization<br />
Zhenhua Xiong, Michael Yu Wang. and Zexiang Li<br />
3935<br />
3941<br />
Structured Product Coding System (SPCS) for Product Cost Evaluation in a<br />
...........................................................................<br />
CAE/CAD/CAM Product (C3p) Environment 3947<br />
Chi-haw Wu, Swee M. Mok and Yujun Xie<br />
"Unilateral" Fixturing of Sheet Metal Parts Using Modular Jaws with Plane-Cone Contacts ...... 3953<br />
K. Gopalakrishnan, Matthew Zaluzec, Rama Koganti, Patricia Deneszczuk. and Ken Goldberg<br />
Realization of Fault Tolerant Manufacturing System and Its Scheduling Based on<br />
Hierarchical Petri Net Modeling ................................................................................................ 3959<br />
Youngwoo Kim, Akio Inaba, Tatsuya Suzuki, ond Shigeru Okuma<br />
IThP7: IntelligentlFlexible Machine Control<br />
A New Concept of Modular Parallel Mechanism for Machining Applications .............................. 3965<br />
Damien Chablat and Philippe Wengm<br />
An Error Restraining Method for Accurate Freeform Surface Cutting ......................................... 3971<br />
A. Jaganathan and YJ Lin<br />
Robotic Metal Spinning-Shear Spinning Using Force Feedback Control ................................. 3977<br />
Hirohiko Arai<br />
Robot Trajectory Integration for Painting Automotive Parts with Multiple Patches ..................... 3984<br />
Heping Chen. Ning Xi, Zhouhua Wei, Yifan Chen. and Jeffrey Dah1<br />
A Novel 2-DOF Parallel Mechanism Based Design of a New 5-Axis Hybrid Machine Tool.. ...... 3990<br />
Xin-Jun Liu, Xiaoqiang Tang, and Jinsong Wang<br />
I<br />
xlvii
IThP8: Rehabilitation <strong>Robotics</strong> (11)<br />
Psychological and Social Effects of Robot Assisted Activity to Elderly People Who<br />
Stay at a Health Service Facility for the Aged .............. 3996<br />
Kazuyoshi Wudu, Takanori Shibara, Tomoko Saito, and Kazuo Tanie<br />
Therapy of Hemiparetic Walking by FES ..................................................................................... 4002<br />
Markus Weber and Friedrich Pfeiffeer<br />
Assistance of Self-Transfer of Patients Using a Power-Assisting Device<br />
Kiyoyoshi Nagai, lsao Nakanishi, and Hide0 Hanofuso<br />
Development of Rehabilitation System for the Upper Limbs in a NED0 Project<br />
Ken'ichi Koyanagi, Junji Furusho, Ushio Ryu, and Akio lnoue<br />
4016<br />
Implementation of a Path Planner to Improve the Usability of a Robot Dedicated to<br />
Severely Disabled People ........................................................................................................ 4023<br />
M. Mokhrari, B. Abdulrazak R. Rodriguez, and B. Grandjean<br />
/ThP9: Contact<br />
Modeling the Kinematics and Dynamics of Compliant Contact ................................................... 4029<br />
Vincent Duindam and Srefano Stramigioli<br />
Inverse and Direct Dynamics of Constrained Multibody Systems Based on Orthononal<br />
Decomposition of Generalized Force ....................................................................................... 4035<br />
Furhad Aghili<br />
The 6 x 6 Stiffness Formulation and Transformation of Serial Manipulators via the<br />
CCT Theow .............................................................................................................................. 4042<br />
Shih-Feng Chen<br />
Dynamic Performance Analysis of Non-Redundant Robotic Manipulators in Contact........... ..... 4048<br />
Alan Bowling and ChangHwan Kim<br />
Nonholonomic Dynamic Rolling Control of Reconfigurable 5R Closed Kinematic<br />
Chain Robot with passive Joints .............................................................................................. 4054<br />
Tasuku Yamawaki, Osamu Mori, and Tom Omaru<br />
[ThPIO: Multi-Robot Systems (11)<br />
Layered Multi Agent Architecture with Dynamic Reconfigurability .............................................. 4060<br />
Eiichi Inohira, Atsushi Konno, and Masaru Uchiyuma<br />
Coordinating the Motions of Multiple Robots with Kinodynamic Constraints .. 4066<br />
Jufeng Peng and Srinivas Akella<br />
Scalability and Schedulability in Large, Coordinated, Distributed Robot Systems ................<br />
John D. Sweeney, Hum Li, Roderic A. Grupen, andKrithi Ramamritham<br />
Real-Time Path Planning with Deadlock Avoidance of Multiple Cleaning Robots<br />
Chaomin Luo, Simon X Yang, and Deborah A. Sfucey<br />
Hybrid Systems Modeling of Cooperative Robots ................<br />
Luiz Chaimowicz, Mario F.M. Campos, and Vijay Kumar<br />
4080<br />
........... 4086<br />
xlviii
IThP11: Parallel Robot Wl<br />
Inverse Dynamics and Simulation of a 3-DOF Spatial Parallel Manipulator<br />
Yu- Wen Li, Jin-Song Wong, Li-Ping Wang, andXin-Jun Liu<br />
4092<br />
Development of Force Displaying Device Using Pneumatic Parallel Manipulator and<br />
Application to palpation Motion ................................................................................................ 4098<br />
Masahiro Takaiwa and Toshiro Norilsugu<br />
Workspace and Dexterity Analyses of Hexaslide Machine Tools ..............<br />
A.B. Koreswara Rao, P. V.M. Roo, and S. K. Saha<br />
4104<br />
Task Teaching to a Force-Controlled High-speed Parallel Robot .............................................. 41 10<br />
Paisuke Saro, Takeshi Shirashimizu, and Masaru Uchiyama<br />
Dynamic Analysis ofclavel's Delta Parallel Robot ...................................................................... 41 16<br />
Stefan Sraicu and D.C. Carp-Ciocardia<br />
I<br />
IThP12: Learning Control<br />
Learning Implicit Models during Target Pursuit ....................<br />
Chris Gasket/, Peter Brown, Gordon Cheng, and Alexander Zelinsky<br />
4122<br />
A New Algorithm of Adaptive Iterative Learning Control for Uncertain Robotic Systems ........... 4130<br />
Chun-Te Hsu, Chiang-Ju Chien, and Chia-Yu Yao<br />
Learning to Optimize Mobile Robot Navigation Based on HTN Plans ........................................ 4136<br />
Thorsren Belker, Martin Hammel, and Joachim Hertzberg<br />
Design and Implementation of a Behavior-Based Control and Learning Architecture<br />
for Mobile Robots ...................................................................................................................... 4142<br />
I1 Hang Suh, Sanghoon Lee, Bong Oh Kim. Ryung Ju Yi, and Sang Rok Oh<br />
<strong>On</strong> Learning Control with Limited Training Data<br />
Yongslieng Ou and Yangsheng Xu<br />
lThPl3: Intelligent Environment<br />
4148<br />
Ada-Intelligent Space: An artificial Creature for the Swiss Expo.02 ......................................... 4154<br />
Kynan Eng, <strong>And</strong>reas Babler, Ulysses Bernardet, Mark Blanchard Marcio Costa, Tobi Delbriick,<br />
Rodney J Douglas, Klaus Hepp, David Klein, Jonatas Manzolli, Mufti Mintz, Fabian Rorh, Ue/i Rutishauser,<br />
Klaus Wassermann, Adrian M Whatley, Aaron Wittmann, Reto Wyss, and Paul F M J Verschure<br />
Human Behavior Interpretation Systems Based on View and Motion-Based<br />
................... .................................<br />
Aspect Models. 4160<br />
,Wasayuki Furukawa, Yoshio Kanbara, Takashi Minato, and Hiroshi Ishiguro<br />
Collaborative Capturing of Experiences with Ubiquitous Sensors and Communication<br />
Robots ............................................................................................................... ...... 4166<br />
Norihiro Hogira, Kiyoshi Kogure, Kenji Max, and Yasuyuki Sumi<br />
Self-Identification of Distributed Intelligent Networked Device in Intelligent Space<br />
Hideki Hashimoto, Joo-No Lee, and Noriaki <strong>And</strong>o<br />
4172<br />
Expression Method of Human Locomotion Records for Path Planning and Control of<br />
Human-Symbioti Based nce Probability MO<br />
Humans ............. ............. ..............................<br />
... 4178<br />
Rai Fukui, Hiroshi Morishira, and Tomomasa Saro<br />
xlix
ThP14: Path Planning with Uncertainty<br />
Safe Path Planning in an Uncertain-Configuration Space ........................................................... 4185<br />
Alain Lambert and Dominique Gruyer<br />
<strong>On</strong>-Line Safe Path Planning in Unknown Environments ............................................................. 4191<br />
Weidong Chen. Chongkong Fan, and Yugeng Xi<br />
Robot Motion Decision-Making System in Unknown Environments ............................................ 41 97<br />
S. Eoonphoapickart, S. Komada, T. Hori, and W.A. Gruver<br />
Probability of Success and Uncertainty Analysis in Path Planning<br />
Dapena Eladio and Moreno Luis<br />
'4203<br />
A Neural Network Model that Calculates Dynamic Distance Transform for Path Planning<br />
and Exploration in a Changing Environment ............................................................................ 4209<br />
Dmity Y Lebedev, Jochen J Steil, and Helge Ritter<br />
[ThEI: Multi-Robot Motion Planning<br />
Motion Planning for a Crowd of Robots<br />
Tsai-Yen Li and Hsu-Chi Chou<br />
Motion Planning for Multiple Mobile Robots Using Dynamic Networks<br />
Christopher M. Clark, Stephen Rock and Jean-Claude Latombe<br />
421 5<br />
4222<br />
Reduced Order Motion Planning for Nonlinear Symmetric Distributed Robotic Systems- ........ 4228<br />
M. Brett McMickell and BIN Goodwine<br />
Evasion of Multiple, Intelligent Pursuers in a Stationary, Cluttered Environment Using<br />
a Poisson Potential Field .......................................................................................................... 4234<br />
Ahmad A. Masoud<br />
Closed Loop Navigatipon for Multiple Non-Holonomic Vehicles ................................................. 4240<br />
Sawas G. Loizou and Kostas J. Kyriakopoulos<br />
jThE2: Mobile Robot Systems<br />
Designing a Secure and Robust Mobile Interacting Robot for the Long Term 4246<br />
N. Tomatis, G. Terrien, R. Pipet, D. Burnier, S. Bouabdallah, Kai 0. Arras, and R. Siegwart<br />
The Current Opinion on the Use of Robots for Landmine Detection ........................................... 4252<br />
S. Rajasehharan and C. Kambhampati<br />
Sensor-Based Motion Planning for Car-like Mobile Robots in Unknown Environments ............. 4258<br />
Claudio Lanzoni, Abraham Sdnchez, and RenP Zupato<br />
Heterogeneous Implementation of an Adaptive Robotic Sensing Team ..................................... 4264<br />
Bapdley Kratochvil, Ian T Burt, <strong>And</strong>rew Drenner, Derek Goerke, Bennett Jackson, Colin McMillen,<br />
Christopher Ohon, Nikolaos Papanikolopoulos, Adam Pfefeer, Sascha A. Stoerer, Kristen Stubbs, and<br />
David Waletzko<br />
A System for Volumetric Robotic Mapping of Abandoned Mines ................................................ 4270<br />
Sebastian Thrun, Dirk Hiihnel, David Ferguson, Michael Montemerlo, Rudolph Triebel, Wolfram Burgard,<br />
Christopher Baker, Zachary Omohundro, Scott Thayer, and William Whirtaker
(ThES: Vision Based Control<br />
Application of Moment Invariants to Visual Servoing ................................................................... 4276<br />
Omar Tahri and Franqois Chaumette<br />
Modeling and Vision-Based Control of a Micro Catheter Head for Teleoperated<br />
In-Pipe Inspection ..................................................................................................................... 4282<br />
Saliha Boudjabi. Antoine Ferreira, and Alexandre Krupa<br />
Visual Servoing of a Car-like Vehicle-An Application of Omnidirectional Vision ....................... 4288<br />
Kane Usher, Peter Ridley, and Peter Corke<br />
Quadrotor Control Using Dual Camera Visual Feedback<br />
Erdin$ Altug, James P. Osrrowski, and Camillo J Taylor<br />
[ThE7: Petri Nets in Automated Systems Design __(11)<br />
,4294<br />
Production Cycle-Time Analysis Based on Sensor-Based Stage Petri Nets for Automated<br />
Manufacturing Systems ............................................................................................................ 4300<br />
ShihSen Peng and MengChu Zhou<br />
A Colored Timed Petri Net Model to Manage Resources in Complex Automated<br />
.......................<br />
Manufacturing Systems 4306<br />
Maria Pia Fanti<br />
Controller Synthesis via Mapping Task Sequence to Petri Nets in Multi-Agent Collaboration<br />
Applications ............................................................................................................................... 4312<br />
Wenbiao Han and Mohsen A. Jafari<br />
Fuzzy Petri Nets for Monitoring and Recovery ...... ......... ......... ..... 4318<br />
Daniel Racoceanu, Eugenia Minca, and Noureddine Zerhouni<br />
Information Systems as a Tool for Specification of Concurrent Systems... ..'. 4324<br />
Zbigniew Sura,<br />
[ThEIl: Parallel Robot (V)<br />
Dynamic Modeling of a Parallel Robot: Application to a Surgical Simulator .... 4330<br />
N. Leroy, A.M. Kokosy, and W. Perruquetti<br />
Path Trackability and Verification for Parallel Manipulators<br />
C. K. Kevin Jui and Qiao Sun<br />
4336<br />
Control and Experiments of a Multi-Purpose Bipedal Locomotor with Parallel Mechanism ....... 4342<br />
Rsuke Sugahara, Tatsuro Endo, Hun-ok Lim, andhuo Takanishi<br />
Design of a Redundantly Actuated Leg Mechanism .................................................................... 4348<br />
Byung Rok So, Byung-Ju Yi, Wheekuk Kim, Sang-Rok Oh, Jongil Park and Young So0 Kim<br />
Probabilistic Motion Planning for Parallel Mechanisms<br />
J CortPs and T. Simdon<br />
IThE12: Robot Control 1<br />
Robust Task-Space Control of Hydraulic Robots<br />
0. Becker, I. Pietsch. and J. Hesselbach<br />
4354<br />
4360<br />
li
Passivity Monitor and Software Limiter which Guarantee Asymptotic Stability of<br />
Robot Control Systems ............................................................................................................. 4366<br />
Katsuya Kanaoka and Tsuneo Yoshikawa<br />
Hierarchical Velocity Field Control for Robot Manipulators<br />
Javier Moreno and Rafael Kelly<br />
Better Robot Tracking Accuracy with Phase Lead Compensated ILC<br />
Yongqiang Ye and Danwei Wang<br />
4374<br />
4380<br />
Forcefree Control with Independent Compensation for Inertia, Friction and Gravity of<br />
Industrial Articulated Robot Arm ............................................................................................... 4386<br />
Saroru Goto, Masaloshi Nakamura, and Nobuhiro Kyura<br />
phE13: Remote <strong>Robotics</strong><br />
Challenges in VR-Based Robot Teleoperation ............................................................................ 4392<br />
Cheng-Peng Kuan and Kuu-young Young<br />
Adaptive Fusion of Sensor Signals Based on Mutual Information Maximization<br />
Tetsushi Ikeda, Hiroshi Ishiguro, and Minoru Asada<br />
4398<br />
Reinforcement Learning Congestion Controller for Multimedia Surveillance System ................. 4403<br />
Ming-Chang Hsiao, Kao-Shing Hwang, Shun- Wen Tan, and Cheng-Shong Wu<br />
Student Performance Evaluation in Web Based Access to Robot Supported Laboratories ....... 4408<br />
H.E. Motuk, A.M. Erhen, andl Erhen<br />
Co-operative Control of Internet Based Multi-Robot Systems with Force Reflection ................. 4414<br />
Wang-tai Lo, Yun-Hui Liu, h ad Elhaj, Ning Xi, Yinghai Shi, and Yuechao Wang<br />
IThE14: Probabilistic Roadmap 1<br />
The Bridge Test for Sampling Narrow Passages with Probabilistic Roadmap Planners ............ 4420<br />
David Hsu, Tingling Jiang, John Reg and Zheng Sun<br />
Improving the Connectivity of PRM Roadmaps ..........................<br />
Marco Morales, Samuel Rodriguez, and Nancy M. Amato<br />
HPRM: A Hierarchical PRM ...................................<br />
Anne D. Collins, Panhj K. Agarwal, and John L. Harer<br />
,4427<br />
' 4433<br />
A General Framework for Sampling on the Medial Axis of the Free Space ................................ 4439<br />
Jyh-Ming Lien, Shawna L. Thomas. and Nancy M. Amato<br />
A General Framework for PRM Motion Planning ......................................................................... 4445<br />
Guang Song, Shawna Thomas, and Nancy M. Amato<br />
Authors' Index ...................................................................................................................... A-1<br />
Categories' Index ..................................................... .............. A-18<br />
lii
Change language